Merge pull request #161 from ipa-fxm/use_postion_hwi

[Indigo] Use PositionJointInterface for simulation

ur_description/urdf/ur10.transmission.xacro

@@ -6,7 +6,7 @@
     <transmission name="${prefix}shoulder_pan_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}shoulder_pan_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}shoulder_pan_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -16,7 +16,7 @@
     <transmission name="${prefix}shoulder_lift_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}shoulder_lift_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}shoulder_lift_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -26,7 +26,7 @@
     <transmission name="${prefix}elbow_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}elbow_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}elbow_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -36,7 +36,7 @@
     <transmission name="${prefix}wrist_1_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_1_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_1_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -46,7 +46,7 @@
     <transmission name="${prefix}wrist_2_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_2_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_2_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -56,7 +56,7 @@
     <transmission name="${prefix}wrist_3_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_3_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_3_motor">
         <mechanicalReduction>1</mechanicalReduction>

ur_description/urdf/ur10_joint_limited_robot.urdf

@@ -230,49 +230,55 @@
   </link>
   <transmission name="shoulder_pan_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="shoulder_pan_joint"/>
+    <joint name="shoulder_pan_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="shoulder_pan_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="shoulder_lift_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="shoulder_lift_joint"/>
+    <joint name="shoulder_lift_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="shoulder_lift_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="elbow_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="elbow_joint"/>
+    <joint name="elbow_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="elbow_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_1_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_1_joint"/>
+    <joint name="wrist_1_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_1_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_2_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_2_joint"/>
+    <joint name="wrist_2_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_2_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_3_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_3_joint"/>
+    <joint name="wrist_3_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_3_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>

ur_description/urdf/ur10_robot.urdf

@@ -230,49 +230,55 @@
   </link>
   <transmission name="shoulder_pan_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="shoulder_pan_joint"/>
+    <joint name="shoulder_pan_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="shoulder_pan_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="shoulder_lift_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="shoulder_lift_joint"/>
+    <joint name="shoulder_lift_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="shoulder_lift_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="elbow_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="elbow_joint"/>
+    <joint name="elbow_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="elbow_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_1_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_1_joint"/>
+    <joint name="wrist_1_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_1_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_2_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_2_joint"/>
+    <joint name="wrist_2_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_2_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_3_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_3_joint"/>
+    <joint name="wrist_3_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_3_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>

ur_description/urdf/ur5.transmission.xacro

@@ -6,7 +6,7 @@
     <transmission name="${prefix}shoulder_pan_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}shoulder_pan_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}shoulder_pan_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -16,7 +16,7 @@
     <transmission name="${prefix}shoulder_lift_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}shoulder_lift_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}shoulder_lift_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -26,7 +26,7 @@
     <transmission name="${prefix}elbow_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}elbow_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}elbow_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -36,7 +36,7 @@
     <transmission name="${prefix}wrist_1_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_1_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_1_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -46,7 +46,7 @@
     <transmission name="${prefix}wrist_2_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_2_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_2_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -56,7 +56,7 @@
     <transmission name="${prefix}wrist_3_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_3_joint">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_3_motor">
         <mechanicalReduction>1</mechanicalReduction>

ur_description/urdf/ur5_joint_limited_robot.urdf

@@ -230,49 +230,55 @@
   </link>
   <transmission name="shoulder_pan_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="shoulder_pan_joint"/>
+    <joint name="shoulder_pan_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="shoulder_pan_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="shoulder_lift_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="shoulder_lift_joint"/>
+    <joint name="shoulder_lift_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="shoulder_lift_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="elbow_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="elbow_joint"/>
+    <joint name="elbow_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="elbow_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_1_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_1_joint"/>
+    <joint name="wrist_1_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_1_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_2_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_2_joint"/>
+    <joint name="wrist_2_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_2_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_3_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_3_joint"/>
+    <joint name="wrist_3_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_3_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>

ur_description/urdf/ur5_robot.urdf

@@ -230,49 +230,55 @@
   </link>
   <transmission name="shoulder_pan_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="shoulder_pan_joint"/>
+    <joint name="shoulder_pan_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="shoulder_pan_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="shoulder_lift_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="shoulder_lift_joint"/>
+    <joint name="shoulder_lift_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="shoulder_lift_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="elbow_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="elbow_joint"/>
+    <joint name="elbow_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="elbow_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_1_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_1_joint"/>
+    <joint name="wrist_1_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_1_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_2_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_2_joint"/>
+    <joint name="wrist_2_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_2_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
   <transmission name="wrist_3_trans">
     <type>transmission_interface/SimpleTransmission</type>
-    <joint name="wrist_3_joint"/>
+    <joint name="wrist_3_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
     <actuator name="wrist_3_motor">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>

ur_gazebo/controller/arm_controller_ur10.yaml

 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}

ur_gazebo/controller/arm_controller_ur5.yaml

 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}