From 1edf77f34f5a13a7089563f456c80979c82f8275 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Wed, 11 Feb 2015 19:17:00 +0100
Subject: [PATCH] adjust controllers to new hardwareInterface - affects
simulation only
---
ur_gazebo/controller/arm_controller_ur10.yaml | 12 ++----------
ur_gazebo/controller/arm_controller_ur5.yaml | 12 ++----------
2 files changed, 4 insertions(+), 20 deletions(-)
diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml
index a76c316..7ab8870 100644
--- a/ur_gazebo/controller/arm_controller_ur10.yaml
+++ b/ur_gazebo/controller/arm_controller_ur10.yaml
@@ -1,6 +1,5 @@
arm_controller:
- type: effort_controllers/JointTrajectoryController
- topic: "test"
+ type: position_controllers/JointTrajectoryController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
@@ -8,16 +7,9 @@ arm_controller:
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
- gains:
- shoulder_pan_joint: {p: 600.0, i: 500.0, d: 100.0, i_clamp: 100.0}
- shoulder_lift_joint: {p: 1500.0, i: 500.0, d: 100.0, i_clamp: 100.0}
- elbow_joint: {p: 1500.0, i: 500.0, d: 100.0, i_clamp: 100.0}
- wrist_1_joint: {p: 100.0, i: 0.0, d: 0.0, i_clamp: 0.0}
- wrist_2_joint: {p: 100.0, i: 0.0, d: 0.0, i_clamp: 0.0}
- wrist_3_joint: {p: 100.0, i: 0.0, d: 0.0, i_clamp: 0.0}
constraints:
goal_time: 0.6
- stopped_velocity_tolerance: 0.5
+ stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/controller/arm_controller_ur5.yaml
index de17f1b..7ab8870 100644
--- a/ur_gazebo/controller/arm_controller_ur5.yaml
+++ b/ur_gazebo/controller/arm_controller_ur5.yaml
@@ -1,6 +1,5 @@
arm_controller:
- type: effort_controllers/JointTrajectoryController
- topic: "test"
+ type: position_controllers/JointTrajectoryController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
@@ -8,16 +7,9 @@ arm_controller:
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
- gains:
- shoulder_pan_joint: {p: 10000.0, i: 500.0, d: 200.0, i_clamp: 100.0}
- shoulder_lift_joint: {p: 10000.0, i: 500.0, d: 200.0, i_clamp: 100.0}
- elbow_joint: {p: 10000.0, i: 500.0, d: 100.0, i_clamp: 100.0}
- wrist_1_joint: {p: 100.0, i: 0.0, d: 10.0, i_clamp: 0.0}
- wrist_2_joint: {p: 100.0, i: 0.0, d: 10.0, i_clamp: 0.0}
- wrist_3_joint: {p: 100.0, i: 0.0, d: 0.0, i_clamp: 0.0}
constraints:
goal_time: 0.6
- stopped_velocity_tolerance: 0.5
+ stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
--
GitLab