diff --git a/ur_description/urdf/ur10.transmission.xacro b/ur_description/urdf/ur10.transmission.xacro
index f304b3836dd8b5bf83d899a9a006f19ffc4610f0..513f5e7d5e5445f1a8b54157491c13df0db065cd 100644
--- a/ur_description/urdf/ur10.transmission.xacro
+++ b/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>
diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf b/ur_description/urdf/ur10_joint_limited_robot.urdf
index 1d1fa3188359ca4cc2eed1a365cbe9bad3860ffd..6889829eda0db558cdaf295046d9d89c5a2eaf01 100644
--- a/ur_description/urdf/ur10_joint_limited_robot.urdf
+++ b/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>
diff --git a/ur_description/urdf/ur10_robot.urdf b/ur_description/urdf/ur10_robot.urdf
index 89dac29fcb1128bfb3c1cd28a58b0a806de09256..321c04a3b2b1431acbdebad72fc032579d9bd274 100644
--- a/ur_description/urdf/ur10_robot.urdf
+++ b/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>
diff --git a/ur_description/urdf/ur5.transmission.xacro b/ur_description/urdf/ur5.transmission.xacro
index 4a75a0344d460b2a145aae6609f82c5e06410eb4..71f9ca7f3c72cf330eab0c17f70726a0b0f09cdd 100644
--- a/ur_description/urdf/ur5.transmission.xacro
+++ b/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>
diff --git a/ur_description/urdf/ur5_joint_limited_robot.urdf b/ur_description/urdf/ur5_joint_limited_robot.urdf
index 3ac04a6b137afe2299174bb7d0a3eacc7ff1df97..983a2c0446597e49924f22a06099c6e435a848e8 100644
--- a/ur_description/urdf/ur5_joint_limited_robot.urdf
+++ b/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>
diff --git a/ur_description/urdf/ur5_robot.urdf b/ur_description/urdf/ur5_robot.urdf
index 9f8f87fab49a838aebcc759c0994ca96fda78391..0179fa8982dafdfcb0d1eeaf6eef9225010c34d4 100644
--- a/ur_description/urdf/ur5_robot.urdf
+++ b/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>
diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml
index a76c316f651ca4e5064e06955837df0a14fb3577..7ab88703ef799b27d600e47bb222450d21f0eb32 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 de17f1bacfdb724e3faf5522365dda3ee92980c0..7ab88703ef799b27d600e47bb222450d21f0eb32 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}