diff --git a/pr2_controller_configuration/pr2_joint_group_velocity_controllers.yaml b/pr2_controller_configuration/pr2_joint_group_velocity_controllers.yaml new file mode 100644 index 0000000..3250081 --- /dev/null +++ b/pr2_controller_configuration/pr2_joint_group_velocity_controllers.yaml @@ -0,0 +1,104 @@ +shoulder_pan_gains: &shoulder_pan_velocity_gains + p: 18.0 + i: 4.67 + d: 0.0 + i_clamp: 100.0 + i_clamp_max: 100.0 + i_clamp_min: -100.0 + +shoulder_lift_gains: &shoulder_lift_velocity_gains + p: 10.0 + i: 5.67 + d: 0 + i_clamp: 100.0 + i_clamp_max: 100.0 + i_clamp_min: -100.0 + +upper_arm_roll_gains: &upper_arm_roll_velocity_gains + p: 6.0 + i: 42.9 + d: 0 + i_clamp: 100.0 + i_clamp_max: 100.0 + i_clamp_min: -100.0 + +elbow_flex_gains: &elbow_flex_velocity_gains + p: 4.0 + i: 20.0 + d: 0 + i_clamp: 100.0 + i_clamp_max: 100.0 + i_clamp_min: -100.0 + +forearm_roll_gains: &forearm_roll_velocity_gains + p: 6.0 + i: 15.0 + d: 0 + i_clamp: 100.0 + i_clamp_max: 100.0 + i_clamp_min: -100.0 + +wrist_flex_gains: &wrist_flex_velocity_gains + p: 4.0 + i: 25.0 + d: 0 + i_clamp: 100.0 + i_clamp_max: 100.0 + i_clamp_min: -100.0 + +wrist_roll_gains: &wrist_roll_velocity_gains + p: 4.0 + i: 25.0 + d: 0 + i_clamp: 100.0 + i_clamp_max: 100.0 + i_clamp_min: -100.0 + +l_arm_joint_group_velocity_controller: + type: "robot_mechanism_controllers/JointGroupVelocityController" + joints: + - l_shoulder_pan_joint + - l_shoulder_lift_joint + - l_upper_arm_roll_joint + - l_elbow_flex_joint + - l_forearm_roll_joint + - l_wrist_flex_joint + - l_wrist_roll_joint + gains: + l_shoulder_pan_joint: *shoulder_pan_velocity_gains + l_shoulder_lift_joint: *shoulder_lift_velocity_gains + l_upper_arm_roll_joint: *upper_arm_roll_velocity_gains + l_elbow_flex_joint: *elbow_flex_velocity_gains + l_forearm_roll_joint: *forearm_roll_velocity_gains + l_wrist_flex_joint: *wrist_flex_velocity_gains + l_wrist_roll_joint: *wrist_roll_velocity_gains + +r_arm_joint_group_velocity_controller: + type: "robot_mechanism_controllers/JointGroupVelocityController" + joints: + - r_shoulder_pan_joint + - r_shoulder_lift_joint + - r_upper_arm_roll_joint + - r_elbow_flex_joint + - r_forearm_roll_joint + - r_wrist_flex_joint + - r_wrist_roll_joint + gains: + r_shoulder_pan_joint: *shoulder_pan_velocity_gains + r_shoulder_lift_joint: *shoulder_lift_velocity_gains + r_upper_arm_roll_joint: *upper_arm_roll_velocity_gains + r_elbow_flex_joint: *elbow_flex_velocity_gains + r_forearm_roll_joint: *forearm_roll_velocity_gains + r_wrist_flex_joint: *wrist_flex_velocity_gains + r_wrist_roll_joint: *wrist_roll_velocity_gains + +torso_lift_velocity_controller: + type: robot_mechanism_controllers/JointVelocityController + joint: torso_lift_joint + pid: &torso_lift_velocity_gains + p: 2000000.0 + d: 0.0 + i: 1000.0 + i_clamp: 1200.0 + i_clamp_max: 1200.0 + i_clamp_min: -1200.0