diff --git a/bioloid_control/config/dexter.yaml b/bioloid_control/config/dexter.yaml new file mode 100644 index 0000000000000000000000000000000000000000..65dca315e6a07504d2aa97a91d8ec86a03f2c274 --- /dev/null +++ b/bioloid_control/config/dexter.yaml @@ -0,0 +1,182 @@ +bioloid: + # Publish all joint states ----------------------------------- + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + + bioloid_cm510_cont: + type: effort_controllers/BioloidControllerCM510 + adc1_frame: IR1_link + adc3_frame: gyro_x + adc4_frame: gyro_y + exp_board_id: 192 + exp_gpio0_frame: left_front_fwd_ir_link + exp_gpio1_frame: left_front_dwn_ir_link + exp_gpio2_frame: left_lateral_dwn_ir_link + exp_gpio3_frame: right_front_fwd_ir_link + exp_gpio4_frame: right_front_dwn_ir_link + exp_gpio5_frame: right_lateral_dwn_ir_link + joints: + - j_shoulder_r + - j_shoulder_l + - j_high_arm_r + - j_high_arm_l + - j_low_arm_r + - j_low_arm_l + - j_pelvis_yaw_r + - j_pelvis_yaw_l + - j_pelvis_roll_r + - j_pelvis_roll_l + - j_pelvis_pitch_r + - j_pelvis_pitch_l + - j_knee_r + - j_knee_l + - j_ankle_pitch_r + - j_ankle_pitch_l + - j_ankle_roll_r + - j_ankle_roll_l + gains: + j_shoulder_l: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_high_arm_l: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_low_arm_l: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_shoulder_r: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_high_arm_r: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_low_arm_r: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_pelvis_yaw_l: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_pelvis_roll_l: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_pelvis_pitch_l: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_knee_l: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_ankle_pitch_l: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_ankle_roll_l: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_pelvis_yaw_r: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_pelvis_roll_r: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_pelvis_pitch_r: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_knee_r: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_ankle_pitch_r: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 + j_ankle_roll_r: + p: 8.0 + d: 0.0 + i: 0.0 + proxy: + lambda: 3.0 + vel_limit: 6.0 + effort_limit: 1.5 diff --git a/bioloid_description/urdf/dexter.xacro b/bioloid_description/urdf/dexter.xacro new file mode 100755 index 0000000000000000000000000000000000000000..a8a845f7ca5f355164094502a0aac3d6dcc56083 --- /dev/null +++ b/bioloid_description/urdf/dexter.xacro @@ -0,0 +1,77 @@ +<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro"> + + <xacro:include filename="$(find bioloid_description)/urdf/bioloid.xacro" /> + <xacro:include filename="$(find bioloid_description)/urdf/bioloid_ceabot.gazebo" /> + <xacro:include filename="$(find bioloid_description)/urdf/sensors/sharp_ir.xacro" /> + <xacro:include filename="$(find bioloid_description)/urdf/sensors/feet_ir.xacro" /> + + <xacro:sharp_ir name="IR1" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8"> + <origin xyz="0 0.0 0.035" rpy="-1.5707 -1.5707 0" /> + </xacro:sharp_ir> + <xacro:sharp_ir name="IR2" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8"> + <origin xyz="0 -0.05 0.035" rpy="-1.5707 -1.5707 0" /> + </xacro:sharp_ir> + <xacro:sharp_ir name="IR3" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8"> + <origin xyz="0 0.05 0.035" rpy="-1.5707 -1.5707 0" /> + </xacro:sharp_ir> +<!-- <xacro:feet_ir left_parent="left_leg_ankle_roll" right_parent="right_leg_ankle_roll" update_rate="20" range="0.01"/>--> + + <link name="battery_pack"> + <collision> + <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/> + <geometry> + <mesh filename="package://bioloid_description/meshes/bounding_boxes/battery_bb.stl" /> + </geometry> + </collision> + <visual> + <origin xyz="0 0 0" rpy="0 0 0" /> + <geometry> + <mesh filename="package://bioloid_description/meshes/bounding_boxes/battery_bb.stl" /> + </geometry> + <material name="Grey"> + <color rgba="0.79 0.82 0.93 1.0"/> + </material> + </visual> + <inertial> + <mass value="0.083" /> + <origin xyz="-0.00750000 0.00000000 0.00000000" rpy="0 0 0"/> + <inertia ixx="0.00004236" ixy="0.00000000" ixz="0.00000000" iyy="0.00001003" iyz="0.00000000" izz="0.00003545" /> + </inertial> + </link> + + <joint name="j_battery" type="fixed"> + <parent link="base_link"/> + <child link="battery_pack"/> + <origin xyz="0 -0.06 -0.022" rpy="-1.5707 -1.5707 0" /> + </joint> + + <link name="controller"> + <collision> + <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/> + <geometry> + <mesh filename="package://bioloid_description/meshes/bounding_boxes/cm510_bb.stl" /> + </geometry> + </collision> + <visual> + <origin xyz="0 0 0" rpy="0 0 0" /> + <geometry> + <mesh filename="package://bioloid_description/meshes/bounding_boxes/cm510_bb.stl" /> + </geometry> + <material name="Grey"> + <color rgba="0.79 0.82 0.93 1.0"/> + </material> + </visual> + <inertial> + <mass value="0.0513" /> + <origin xyz="-0.01301673 -0.00039419 0.00111614" rpy="0 0 0"/> + <inertia ixx="0.00004774" ixy="0.00000038" ixz="-0.00000094" iyy="0.00002476" iyz="-0.00000030" izz="0.00004497" /> + </inertial> + </link> + + <joint name="j_controller" type="fixed"> + <parent link="base_link"/> + <child link="controller"/> + <origin xyz="0 -0.01 -0.022" rpy="-1.5707 -1.5707 0" /> + </joint> + +</robot>