Selective merge of feature-egm branch into master

.gitignore

@@ -35,10 +35,7 @@ build
 *#
 *.#
 *.obj
-*.urdf
 *.dae
-.stl
-*.zip
 *.a
 *.dll
 *.lib
@@ -67,6 +64,9 @@ CVS/*
 
 # Other files
 working/
+
+yumi_hw/docs/
+
 Status API Training Shop Blog About
 © 2014 GitHub, Inc. Terms Privacy Security Contact
 

gazebo_mimic/package.xml

@@ -4,7 +4,7 @@
   <version>0.0.4</version>
   <description>The gazebo_mimic package</description>
 
-  <maintainer email="robert.krug@oru.se">Robert Krug</maintainer>
+  <maintainer email="yoshua.nava@kth.se">Yoshua Nava</maintainer>
 
   <license>BSD</license>
 

yumi_control/config/gripper_controllers.yaml

@@ -0,0 +1,28 @@
+
+
+
+# Effort gripper controllers ---------------------------------------
+gripper_effort_controller_r:
+  type: effort_controllers/JointEffortController
+  joint: gripper_r_joint
+  pid: {p: 0.1, i: 0.0, d: 0.0, i_clamp_min: -1, i_clamp_max: 1}
+
+gripper_effort_controller_l:
+  type: effort_controllers/JointEffortController
+  joint: gripper_l_joint
+  pid: {p: 0.1, i: 0.0, d: 0.0, i_clamp_min: -1, i_clamp_max: 1}
+
+
+
+# Effort gripper position controllers ---------------------------------------
+gripper_effort_pos_controller_r:
+  type: effort_controllers/JointPositionController
+  joint: gripper_r_joint
+  pid: {p: 1000.0, i: 0.01, d: 0.1, i_clamp_min: -1, i_clamp_max: 1}
+
+gripper_effort_pos_controller_l:
+  type: effort_controllers/JointPositionController
+  joint: gripper_l_joint
+  pid: {p: 1000.0, i: 0.01, d: 0.1, i_clamp_min: -1, i_clamp_max: 1}
+
+

yumi_control/config/position_controllers.yaml

@@ -0,0 +1,90 @@
+# Publish all joint states -----------------------------------
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 500
+
+joint_pos_controller_1_l:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_1_l
+joint_pos_controller_2_l:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_2_l
+joint_pos_controller_7_l:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_7_l
+joint_pos_controller_3_l:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_3_l
+joint_pos_controller_4_l:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_4_l
+joint_pos_controller_5_l:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_5_l
+joint_pos_controller_6_l:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_6_l
+joint_pos_controller_1_r:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_1_r
+joint_pos_controller_2_r:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_2_r
+joint_pos_controller_7_r:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_7_r
+joint_pos_controller_3_r:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_3_r
+joint_pos_controller_4_r:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_4_r
+joint_pos_controller_5_r:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_5_r
+joint_pos_controller_6_r:
+  type: "position_controllers/JointPositionController"
+  joint: yumi_joint_6_r
+
+
+joint_group_pos_controller:
+  type: "position_controllers/JointGroupPositionController"
+  joints:
+    - yumi_joint_1_r
+    - yumi_joint_2_r
+    - yumi_joint_7_r
+    - yumi_joint_3_r
+    - yumi_joint_4_r
+    - yumi_joint_5_r
+    - yumi_joint_6_r
+    - yumi_joint_1_l
+    - yumi_joint_2_l
+    - yumi_joint_7_l
+    - yumi_joint_3_l
+    - yumi_joint_4_l
+    - yumi_joint_5_l
+    - yumi_joint_6_l
+
+joint_group_pos_controller_l:
+  type: "position_controllers/JointGroupPositionController"
+  joints:
+    - yumi_joint_1_l
+    - yumi_joint_2_l
+    - yumi_joint_7_l
+    - yumi_joint_3_l
+    - yumi_joint_4_l
+    - yumi_joint_5_l
+    - yumi_joint_6_l
+
+joint_group_pos_controller_r:
+  type: "position_controllers/JointGroupPositionController"
+  joints:
+    - yumi_joint_1_r
+    - yumi_joint_2_r
+    - yumi_joint_7_r
+    - yumi_joint_3_r
+    - yumi_joint_4_r
+    - yumi_joint_5_r
+    - yumi_joint_6_r
+
+

yumi_control/config/controllers.yaml → yumi_control/config/traj_controllers.yaml

@@ -3,8 +3,11 @@ joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 500
 
-# Joint Trajectory Position Controller ----------------------------------------
-joint_trajectory_pos_controller:
+
+
+
+# Joint Trajectory Position Controlles ----------------------------------------
+joint_traj_pos_controller_l:
   type: "position_controllers/JointTrajectoryController"
   joints:
     - yumi_joint_1_l
@@ -14,16 +17,38 @@ joint_trajectory_pos_controller:
     - yumi_joint_4_l
     - yumi_joint_5_l
     - yumi_joint_6_l
+  gains:
+    yumi_joint_1_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_2_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_7_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_3_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_4_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_5_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_6_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+
+
+joint_traj_pos_controller_r:
+  type: "position_controllers/JointTrajectoryController"
+  joints:
     - yumi_joint_1_r
     - yumi_joint_2_r
     - yumi_joint_7_r
     - yumi_joint_3_r
     - yumi_joint_4_r
     - yumi_joint_5_r
     - yumi_joint_6_r
+  gains:
+    yumi_joint_1_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_2_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_7_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_3_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_4_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_5_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_6_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+
 
 # Joint Trajectory Velocity Controller ----------------------------------------
-joint_trajectory_vel_controller:
+joint_traj_vel_controller_l:
   type: "velocity_controllers/JointTrajectoryController"
   joints:
     - yumi_joint_1_l
@@ -33,13 +58,6 @@ joint_trajectory_vel_controller:
     - yumi_joint_4_l
     - yumi_joint_5_l
     - yumi_joint_6_l
-    - yumi_joint_1_r
-    - yumi_joint_2_r
-    - yumi_joint_7_r
-    - yumi_joint_3_r
-    - yumi_joint_4_r
-    - yumi_joint_5_r
-    - yumi_joint_6_r
   gains:
     yumi_joint_1_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
     yumi_joint_2_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
@@ -48,6 +66,20 @@ joint_trajectory_vel_controller:
     yumi_joint_4_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
     yumi_joint_5_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
     yumi_joint_6_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+
+
+
+joint_traj_vel_controller_r:
+  type: "velocity_controllers/JointTrajectoryController"
+  joints:
+    - yumi_joint_1_r
+    - yumi_joint_2_r
+    - yumi_joint_7_r
+    - yumi_joint_3_r
+    - yumi_joint_4_r
+    - yumi_joint_5_r
+    - yumi_joint_6_r
+  gains:
     yumi_joint_1_r: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
     yumi_joint_2_r: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
     yumi_joint_7_r: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}

yumi_control/config/velocity_controllers.yaml

@@ -0,0 +1,91 @@
+# Publish all joint states -----------------------------------
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 500
+
+
+joint_vel_controller_1_l:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_1_l
+joint_vel_controller_2_l:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_2_l
+joint_vel_controller_7_l:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_7_l
+joint_vel_controller_3_l:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_3_l
+joint_vel_controller_4_l:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_4_l
+joint_vel_controller_5_l:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_5_l
+joint_vel_controller_6_l:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_6_l
+joint_vel_controller_1_r:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_1_r
+joint_vel_controller_2_r:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_2_r
+joint_vel_controller_7_r:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_7_r
+joint_vel_controller_3_r:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_3_r
+joint_vel_controller_4_r:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_4_r
+joint_vel_controller_5_r:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_5_r
+joint_vel_controller_6_r:
+  type: "velocity_controllers/JointVelocityController"
+  joint: yumi_joint_6_r
+
+
+joint_group_vel_controller:
+  type: "velocity_controllers/JointGroupVelocityController"
+  joints:
+    - yumi_joint_1_r
+    - yumi_joint_2_r
+    - yumi_joint_7_r
+    - yumi_joint_3_r
+    - yumi_joint_4_r
+    - yumi_joint_5_r
+    - yumi_joint_6_r
+    - yumi_joint_1_l
+    - yumi_joint_2_l
+    - yumi_joint_7_l
+    - yumi_joint_3_l
+    - yumi_joint_4_l
+    - yumi_joint_5_l
+    - yumi_joint_6_l
+
+joint_group_vel_controller_l:
+  type: "velocity_controllers/JointGroupVelocityController"
+  joints:
+    - yumi_joint_1_l
+    - yumi_joint_2_l
+    - yumi_joint_7_l
+    - yumi_joint_3_l
+    - yumi_joint_4_l
+    - yumi_joint_5_l
+    - yumi_joint_6_l
+
+joint_group_vel_controller_r:
+  type: "velocity_controllers/JointGroupVelocityController"
+  joints:
+    - yumi_joint_1_r
+    - yumi_joint_2_r
+    - yumi_joint_7_r
+    - yumi_joint_3_r
+    - yumi_joint_4_r
+    - yumi_joint_5_r
+    - yumi_joint_6_r
+
+

yumi_control/package.xml

@@ -4,7 +4,7 @@
   <version>0.0.4</version>
   <description>The yumi_control package</description>
 
-  <maintainer email="robert.krug@oru.se">Robert Krug</maintainer>
+  <maintainer email="yoshua.nava@kth.se">Yoshua Nava</maintainer>
 
   <license>BSD</license>
 

yumi_description/package.xml

@@ -4,7 +4,7 @@
   <version>0.0.4</version>
   <description>The yumi_description package</description>
 
-  <maintainer email="robert.krug@oru.se">Robert Krug</maintainer>
+  <maintainer email="yoshua.nava@kth.se">Yoshua Nava</maintainer>
 
   <license>BSD</license>