sample example update for ROSCon

config/sample.yaml

@@ -3,36 +3,37 @@ dynamixel_controllers:
     type: joint_state_controller/JointStateController
     publish_rate: 10
 
-  pos_controller:
-    type: position_controllers/JointPositionController
-    joint: arm_joint_2
+  traj_controller:
+    type: position_controllers/JointTrajectoryController
+    joints:
+      - arm_joint_2
 
   vel_controller:
     type: velocity_controllers/JointVelocityController
     joint: arm_joint_1
 
 dynamixel_control:
   serial_interface: /dev/ttyUSB0
-  loop_frequency: 50
-  cycle_time_error_threshold: 0.1
-  baudrate: 1000000 # in bauds
-  read_timeout: 0.05 # in seconds
-  scan_timeout: 0.05 # in seconds
+  loop_frequency: 500
+  cycle_time_error_threshold: 0.002
+  baudrate: 3000000 # in bauds
+  read_timeout: 0.005 # in seconds
+  scan_timeout: 0.005 # in seconds
   # Cofniguration of the servos
   servos:
     arm_joint_1:
       # hardware ID of the actuator
       id: 2
+      offset: 3.14159265359
       # offset to be added, in radians, to the position of an actuator
-      offset: 4.5 # in rad
+      #max-speed: 4.0 # in rad
       command_interface: velocity
     arm_joint_2:
       id: 1
       # max joint speed
       # it shoud NOT be used for actuators in velocity mode
-      max-speed: 4 # in rad/s
+      offset: 3.1 # in rad/s
       # this actuator is set in reverse mode for the speed and position
-      reverse: true
+      #reverse: false
   # default mode
   default_command_interface: position
-

launch/sample.launch

@@ -31,8 +31,8 @@
     <!-- Start a controller for our dummy robot -->
     <node name="controller" pkg="controller_manager" type="spawner"
           respawn="false" output="screen" clear_params="true"
-          args="/dynamixel_controllers/vel_controller
-                /dynamixel_controllers/pos_controller
+          args="/dynamixel_controllers/traj_controller
+                /dynamixel_controllers/vel_controller
                 /dynamixel_controllers/joint_state_controller" />
   </group>
 </launch>

urdf/sample.urdf

@@ -39,12 +39,12 @@
     <axis xyz="1 0 0"/>
 
     <!-- Joint limits -->
-    <limit lower="-3.1415" upper="3.1415" velocity="10" effort="100"/>
+    <limit lower="-10.1415" upper="10.1415" velocity="10" effort="100"/>
     <!-- Soft limits -->
     <safety_controller k_position="3"
                     k_velocity="1000"
-                    soft_lower_limit="-3.1415"
-                    soft_upper_limit="3.1415" />
+                    soft_lower_limit="-10.1415"
+                    soft_upper_limit="10.1415" />
   </joint>
 
   <joint name="arm_joint_2" type="revolute">
@@ -54,12 +54,12 @@
     <axis xyz="1 0 0"/>
 
     <!-- Joint limits -->
-    <limit lower="-3.1415" upper="3.1415" velocity="5" effort="100"/>
+    <limit lower="-3.1415" upper="3.1415" velocity="10" effort="100"/>
     <!-- Soft limits -->
     <safety_controller k_position="3"
                     k_velocity="1000"
-                    soft_lower_limit="-2.1415"
-                    soft_upper_limit="2.1415" />
+                    soft_lower_limit="-3.1415"
+                    soft_upper_limit="3.1415" />
   </joint>
 
   <joint name="arm_joint_3" type="revolute">
@@ -76,4 +76,4 @@
                     soft_lower_limit="-3.1415"
                     soft_upper_limit="3.1415" />
   </joint>
-</robot>
+</robot>