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Gazebo effort controllers #619

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Nov 10, 2022
Merged

Gazebo effort controllers #619

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c5f161b
[ur_gazebo] Switch common files to effort controllers
Jul 7, 2020
d3f9a1a
[moveit_configs] Change default sim controller to effort controller
fmauch Nov 10, 2022
bb2666e
[ur_gazebo] Switch to effort controllers
Jul 7, 2020
e60abd3
[ur_gazebo] update effort_controllers' pid parameters
Jul 10, 2020
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2 changes: 1 addition & 1 deletion ur10_moveit_config/launch/moveit_planning_execution.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<arg name="debug" default="false" />

<!-- Remap follow_joint_trajectory -->
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/pos_joint_traj_controller/follow_joint_trajectory"/>
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/eff_joint_traj_controller/follow_joint_trajectory"/>

<!-- Launch moveit -->
<include file="$(find ur10_moveit_config)/launch/move_group.launch">
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2 changes: 1 addition & 1 deletion ur10e_moveit_config/launch/moveit_planning_execution.launch
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Expand Up @@ -3,7 +3,7 @@
<arg name="debug" default="false" />

<!-- Remap follow_joint_trajectory -->
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/pos_joint_traj_controller/follow_joint_trajectory"/>
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/eff_joint_traj_controller/follow_joint_trajectory"/>

<!-- Launch moveit -->
<include file="$(find ur10e_moveit_config)/launch/move_group.launch">
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2 changes: 1 addition & 1 deletion ur16e_moveit_config/launch/moveit_planning_execution.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<arg name="debug" default="false" />

<!-- Remap follow_joint_trajectory -->
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/pos_joint_traj_controller/follow_joint_trajectory"/>
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/eff_joint_traj_controller/follow_joint_trajectory"/>

<!-- Launch moveit -->
<include file="$(find ur16e_moveit_config)/launch/move_group.launch">
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2 changes: 1 addition & 1 deletion ur3_moveit_config/launch/moveit_planning_execution.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<arg name="debug" default="false" />

<!-- Remap follow_joint_trajectory -->
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/pos_joint_traj_controller/follow_joint_trajectory"/>
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/eff_joint_traj_controller/follow_joint_trajectory"/>

<!-- Launch moveit -->
<include file="$(find ur3_moveit_config)/launch/move_group.launch">
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2 changes: 1 addition & 1 deletion ur3e_moveit_config/launch/moveit_planning_execution.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<arg name="debug" default="false" />

<!-- Remap follow_joint_trajectory -->
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/pos_joint_traj_controller/follow_joint_trajectory"/>
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/eff_joint_traj_controller/follow_joint_trajectory"/>

<!-- Launch moveit -->
<include file="$(find ur3e_moveit_config)/launch/move_group.launch">
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2 changes: 1 addition & 1 deletion ur5_moveit_config/launch/moveit_planning_execution.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<arg name="debug" default="false" />

<!-- Remap follow_joint_trajectory -->
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/pos_joint_traj_controller/follow_joint_trajectory"/>
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/eff_joint_traj_controller/follow_joint_trajectory"/>

<!-- Launch moveit -->
<include file="$(find ur5_moveit_config)/launch/move_group.launch">
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2 changes: 1 addition & 1 deletion ur5e_moveit_config/launch/moveit_planning_execution.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<arg name="debug" default="false" />

<!-- Remap follow_joint_trajectory -->
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/pos_joint_traj_controller/follow_joint_trajectory"/>
<remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/eff_joint_traj_controller/follow_joint_trajectory"/>

<!-- Launch moveit -->
<include file="$(find ur5e_moveit_config)/launch/move_group.launch">
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15 changes: 11 additions & 4 deletions ur_gazebo/config/ur10_controllers.yaml
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Expand Up @@ -2,15 +2,22 @@ joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: &loop_hz 125

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
eff_joint_traj_controller:
type: effort_controllers/JointTrajectoryController
joints: &robot_joints
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
gains: # Required because we're controlling an effort interface
shoulder_pan_joint: {p: 20000, d: 500, i: 10, i_clamp: 1}
shoulder_lift_joint: {p: 20000, d: 500, i: 10, i_clamp: 1}
elbow_joint: {p: 20000, d: 500, i: 10, i_clamp: 1}
wrist_1_joint: {p: 500, d: 10, i: 1, i_clamp: 1}
wrist_2_joint: {p: 500, d: 10, i: 1, i_clamp: 1}
wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1}
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
Expand All @@ -24,6 +31,6 @@ pos_joint_traj_controller:
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints
15 changes: 11 additions & 4 deletions ur_gazebo/config/ur10e_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,22 @@ joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: &loop_hz 500

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
eff_joint_traj_controller:
type: effort_controllers/JointTrajectoryController
joints: &robot_joints
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
gains: # Required because we're controlling an effort interface
shoulder_pan_joint: {p: 20000, d: 100, i: 10, i_clamp: 1}
shoulder_lift_joint: {p: 20000, d: 100, i: 20, i_clamp: 1}
elbow_joint: {p: 10000, d: 100, i: 10, i_clamp: 1}
wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1}
wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1}
wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1}
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
Expand All @@ -24,6 +31,6 @@ pos_joint_traj_controller:
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints
15 changes: 11 additions & 4 deletions ur_gazebo/config/ur16e_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,22 @@ joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: &loop_hz 500

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
eff_joint_traj_controller:
type: effort_controllers/JointTrajectoryController
joints: &robot_joints
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
gains: # Required because we're controlling an effort interface
shoulder_pan_joint: {p: 20000, d: 500, i: 10, i_clamp: 1}
shoulder_lift_joint: {p: 20000, d: 500, i: 10, i_clamp: 1}
elbow_joint: {p: 10000, d: 200, i: 10, i_clamp: 1}
wrist_1_joint: {p: 500, d: 10, i: 1, i_clamp: 1}
wrist_2_joint: {p: 500, d: 10, i: 1, i_clamp: 1}
wrist_3_joint: {p: 100, d: 0.1, i: 0, i_clamp: 1}
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
Expand All @@ -24,6 +31,6 @@ pos_joint_traj_controller:
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints
15 changes: 11 additions & 4 deletions ur_gazebo/config/ur3_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,22 @@ joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: &loop_hz 125

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
eff_joint_traj_controller:
type: effort_controllers/JointTrajectoryController
joints: &robot_joints
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
gains: # Required because we're controlling an effort interface
shoulder_pan_joint: {p: 2000, d: 20, i: 1, i_clamp: 1}
shoulder_lift_joint: {p: 6000, d: 40, i: 1, i_clamp: 1}
elbow_joint: {p: 2000, d: 20, i: 1, i_clamp: 1}
wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1}
wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1}
wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1}
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
Expand All @@ -24,6 +31,6 @@ pos_joint_traj_controller:
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints
15 changes: 11 additions & 4 deletions ur_gazebo/config/ur3e_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,22 @@ joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: &loop_hz 500

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
eff_joint_traj_controller:
type: effort_controllers/JointTrajectoryController
joints: &robot_joints
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
gains: # Required because we're controlling an effort interface
shoulder_pan_joint: {p: 2000, d: 20, i: 1, i_clamp: 1}
shoulder_lift_joint: {p: 6000, d: 40, i: 1, i_clamp: 1}
elbow_joint: {p: 2000, d: 20, i: 1, i_clamp: 1}
wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1}
wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1}
wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1}
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
Expand All @@ -24,6 +31,6 @@ pos_joint_traj_controller:
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints
15 changes: 11 additions & 4 deletions ur_gazebo/config/ur5_controllers.yaml
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,22 @@ joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: &loop_hz 125

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
eff_joint_traj_controller:
type: effort_controllers/JointTrajectoryController
joints: &robot_joints
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
gains: # Required because we're controlling an effort interface
shoulder_pan_joint: {p: 4000, d: 200, i: 1, i_clamp: 1}
shoulder_lift_joint: {p: 10000, d: 200, i: 1, i_clamp: 1}
elbow_joint: {p: 2000, d: 20, i: 1, i_clamp: 1}
wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1}
wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1}
wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1}
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
Expand All @@ -24,6 +31,6 @@ pos_joint_traj_controller:
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints
15 changes: 11 additions & 4 deletions ur_gazebo/config/ur5e_controllers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,22 @@ joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: &loop_hz 500

pos_joint_traj_controller:
type: position_controllers/JointTrajectoryController
eff_joint_traj_controller:
type: effort_controllers/JointTrajectoryController
joints: &robot_joints
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
gains: # Required because we're controlling an effort interface
shoulder_pan_joint: {p: 4000, d: 200, i: 1, i_clamp: 1}
shoulder_lift_joint: {p: 10000, d: 200, i: 1, i_clamp: 1}
elbow_joint: {p: 2000, d: 20, i: 1, i_clamp: 1}
wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1}
wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1}
wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1}
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
Expand All @@ -24,6 +31,6 @@ pos_joint_traj_controller:
state_publish_rate: *loop_hz
action_monitor_rate: 10

joint_group_pos_controller:
type: position_controllers/JointGroupPositionController
joint_group_eff_controller:
type: effort_controllers/JointGroupEffortController
joints: *robot_joints
2 changes: 1 addition & 1 deletion ur_gazebo/launch/inc/load_ur.launch.xml
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Expand Up @@ -27,7 +27,7 @@
<arg name="visual_params" doc="YAML file containing the visual model of the robots"/>

<!--Common parameters -->
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
Expand Down
2 changes: 1 addition & 1 deletion ur_gazebo/launch/inc/load_ur10.launch.xml
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Expand Up @@ -7,7 +7,7 @@
<arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>

<!--Common parameters -->
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
Expand Down
2 changes: 1 addition & 1 deletion ur_gazebo/launch/inc/load_ur10e.launch.xml
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Expand Up @@ -7,7 +7,7 @@
<arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>

<!--Common parameters -->
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
Expand Down
2 changes: 1 addition & 1 deletion ur_gazebo/launch/inc/load_ur16e.launch.xml
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Expand Up @@ -7,7 +7,7 @@
<arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>

<!--Common parameters -->
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
Expand Down
2 changes: 1 addition & 1 deletion ur_gazebo/launch/inc/load_ur3.launch.xml
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Expand Up @@ -7,7 +7,7 @@
<arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>

<!--Common parameters -->
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
Expand Down
2 changes: 1 addition & 1 deletion ur_gazebo/launch/inc/load_ur3e.launch.xml
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Expand Up @@ -7,7 +7,7 @@
<arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>

<!--Common parameters -->
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
Expand Down
2 changes: 1 addition & 1 deletion ur_gazebo/launch/inc/load_ur5.launch.xml
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Expand Up @@ -7,7 +7,7 @@
<arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>

<!--Common parameters -->
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
Expand Down
2 changes: 1 addition & 1 deletion ur_gazebo/launch/inc/load_ur5e.launch.xml
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Expand Up @@ -7,7 +7,7 @@
<arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>

<!--Common parameters -->
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [PositionJointInterface, VelocityJointInterface, EffortJointInterface])"/>
<arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/>
<arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
<arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
Expand Down
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