From 66f911699948d17c7a10a0bd9c1bf23cbcea93c9 Mon Sep 17 00:00:00 2001 From: Shuang Li Date: Sun, 6 Dec 2020 21:52:21 +0100 Subject: [PATCH 1/2] add pr2_joint_group_velocity_controllers.yaml add JointGroupVelocityController in pr2_controllers (see https://github.com/PR2/pr2_controllers/pull/400) --- .../pr2_joint_group_velocity_controllers.yaml | 104 ++++++++++++++++++ 1 file changed, 104 insertions(+) create mode 100644 pr2_controller_configuration/pr2_joint_group_velocity_controllers.yaml 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 From 283f9d059203c82e8981496d5a2d5a66db8b69b8 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 25 May 2021 19:45:30 +0900 Subject: [PATCH 2/2] .travis.yml: fix for kinetic eol --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 06708b0..945b510 100644 --- a/.travis.yml +++ b/.travis.yml @@ -15,7 +15,7 @@ env: matrix: - CHECK_PYTHON3_COMPILE=true - ROS_DISTRO_NAME=indigo OS_NAME=ubuntu OS_CODE_NAME=trusty ARCH=amd64 INDEX_URL=https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/6a93d17/index.yaml - - ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64 + - ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64 INDEX_URL=https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/6a93d17/index.yaml - ROS_DISTRO_NAME=melodic OS_NAME=ubuntu OS_CODE_NAME=bionic ARCH=amd64 - ROS_DISTRO_NAME=noetic OS_NAME=ubuntu OS_CODE_NAME=focal ARCH=amd64 # matrix: