/
ros_controllers.yaml
92 lines (92 loc) · 2.04 KB
/
ros_controllers.yaml
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# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
joint_model_group: ur5_arm
joint_model_group_pose: home
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
- robotiq_85_left_knuckle_joint
sim_control_mode: 1 # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
controller_list:
- name: ur5_arm_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
- name: gripper_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- robotiq_85_left_knuckle_joint
ur5_arm_controller:
type: effort_controllers/JointTrajectoryController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
gains:
shoulder_pan_joint:
p: 1000
d: 50
i: 10
i_clamp: 100
shoulder_lift_joint:
p: 5000
d: 30
i: 100
i_clamp: 400
elbow_joint:
p: 5000
d: 50
i: 10
i_clamp: 100
wrist_1_joint:
p: 200
d: 20
i: 10
i_clamp: 100
wrist_2_joint:
p: 100
d: 10
i: 0.1
i_clamp: 100
wrist_3_joint:
p: 10
d: 1
i: 0.1
i_clamp: 100
gripper_controller:
type: effort_controllers/JointTrajectoryController
joints:
- robotiq_85_left_knuckle_joint
gains:
robotiq_85_left_knuckle_joint:
p: 40
d: 0
i: 0
i_clamp: 1