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JointTrajectoryActionServer.cfg
executable file
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JointTrajectoryActionServer.cfg
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#!/usr/bin/env python
# Copyright (c) 2013-2015, Rethink Robotics
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# 3. Neither the name of the Rethink Robotics nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from dynamic_reconfigure.parameter_generator_catkin import (
ParameterGenerator,
double_t,
bool_t
)
gen = ParameterGenerator()
gen.add(
'goal_time', double_t, 0,
"Amount of time (s) controller is permitted to be late achieving goal",
0.1, 0.0, 120.0,
)
gen.add(
'stopped_velocity_tolerance', double_t, 0,
"Maximum velocity (m/s) at end of trajectory to be considered stopped",
0.25, -1.0, 1.0,
)
gen.add(
'continuous', bool_t, 0,
"Continuous trajectories have non-zero speed and acceleration at start and end, so that they can be joined in a smooth overall trajectory",
False
)
params = ('_goal', '_trajectory',)
msg = (
" - maximum final error",
" - maximum error during trajectory execution",
)
min = (-1.0, -1.0,)
default = (1.0, 1.0,)
max = (1.0, 1.0,)
for idx, param in enumerate(params):
# TODO: Hardcoded motor names will only work for Poppy Ergo Jr
for joint in ["m1", "m2", "m3", "m4", "m5", "m6"]:
gen.add(
joint + param, double_t, 0, joint + msg[idx],
default[idx], min[idx], max[idx]
)
exit(gen.generate('poppy_controllers', '', 'JointTrajectoryActionServer'))