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add pr2_joint_group_velocity_controllers.yaml
add JointGroupVelocityController in pr2_controllers (see PR2/pr2_controllers#400)
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pr2_controller_configuration/pr2_joint_group_velocity_controllers.yaml
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|---|---|---|
| @@ -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 | ||
|
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||
| 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 | ||
|
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||
| 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 | ||
|
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||
| 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 | ||
|
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||
| 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 |