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Commit 16b9b35e authored by Sergi Hernandez's avatar Sergi Hernandez
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added pan_tilt features to dexter descriptive files

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bioloid_control/config/dexter.yaml
+ 10
− 9
View file @ 16b9b35e
......@@ -7,19 +7,20 @@ bioloid:
bioloid_cm510_cont:
type: effort_controllers/BioloidControllerCM510
exp_adc8_frame: IR1_link
exp_adc7_frame: IRL1_link
exp_adc7_frame: IR2_link
exp_adc6_frame: LAT_IR_left_link
exp_adc5_frame: LAT_IR_right_link
exp_adc4_frame: IRLONG_link
adc3_frame: gyro_x
adc4_frame: gyro_y
adc3_frame: gyro_y
adc4_frame: gyro_x
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
exp_gpio1_frame: left_front_fwd_ir_link
exp_gpio2_frame: left_front_dwn_ir_link
exp_gpio3_frame: left_lateral_dwn_ir_link
exp_gpio18_frame: right_front_fwd_ir_link
exp_gpio17_frame: right_front_dwn_ir_link
exp_gpio16_frame: right_lateral_dwn_ir_link
joints:
- j_shoulder_r
- j_shoulder_l
......
bioloid_control/config/dexter_pan_tilt.yaml 0 → 100644
+ 148
− 0
View file @ 16b9b35e
bioloid:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
bioloid_cm510_cont:
type: effort_controllers/BioloidControllerCM510
exp_adc8_frame: IR1_link
exp_adc7_frame: IR2_link
exp_adc6_frame: LAT_IR_left_link
exp_adc5_frame: LAT_IR_right_link
exp_adc4_frame: IRLONG_link
adc3_frame: gyro_y
adc4_frame: gyro_x
exp_board_id: 192
exp_gpio1_frame: left_front_fwd_ir_link
exp_gpio2_frame: left_front_dwn_ir_link
exp_gpio3_frame: left_lateral_dwn_ir_link
exp_gpio18_frame: right_front_fwd_ir_link
exp_gpio17_frame: right_front_dwn_ir_link
exp_gpio16_frame: right_lateral_dwn_ir_link
pan_servo_id: 19
tilt_servo_id: 20
serial_console_device: /dev/pts/18
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
- j_pan
- j_tilt
gains:
j_shoulder_l:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_high_arm_l:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_low_arm_l:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_shoulder_r:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_high_arm_r:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_low_arm_r:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_pelvis_yaw_l:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_pelvis_roll_l:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_pelvis_pitch_l:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_knee_l:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_ankle_pitch_l:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_ankle_roll_l:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_pelvis_yaw_r:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_pelvis_roll_r:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_pelvis_pitch_r:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_knee_r:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_ankle_pitch_r:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_ankle_roll_r:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_pan:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
j_tilt:
punch: 32
margin: 1
slope: 32
max_torque: 1.5
bioloid_description/urdf/dexter.xacro
+ 14
− 8
View file @ 16b9b35e
......@@ -4,13 +4,15 @@
<xacro:include filename="$(find bioloid_description)/urdf/bioloid_ceabot.gazebo" />
<xacro:include filename="$(find bioloid_description)/urdf/sensors/sharp_ir.xacro" />
<xacro:include filename="$(find bioloid_description)/urdf/sensors/feet_ir.xacro" />
<xacro:include filename="$(find bioloid_description)/urdf/pan_tilt.xacro" />
<xacro:include filename="$(find bioloid_description)/urdf/sensors/ids_xs.xacro" />
<xacro:sharp_ir name="IR1" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
<origin xyz="-0.04 0.00 0.035" rpy="0 -1.8326 0" />
<origin xyz="-0.04 0.00 0.035" rpy="0 -1.745 0" />
</xacro:sharp_ir>
<xacro:sharp_ir name="IR2" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
<origin xyz="0.04 0.00 0.035" rpy="0 -1.3090 0" />
<origin xyz="0.04 0.00 0.035" rpy="0 -1.396 0" />
</xacro:sharp_ir>
<xacro:sharp_ir name="IRLONG" parent="base_link" update_rate="20" fov="0.05" min_range="0.20" max_range="1.5">
......@@ -19,16 +21,12 @@
<!-- this is for the lateral sensors-->
<xacro:sharp_ir name="LAT_IR_left" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
<!-- <xacro:sharp_ir name="LAT_IR_left" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
<origin xyz="0.04 0.03 0.035" rpy="-1.5707 0 0" />
</xacro:sharp_ir>
<xacro:sharp_ir name="LAT_IR_right" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
<origin xyz="-0.04 0.03 0.035" rpy="-1.5707 3.1416 0" />
</xacro:sharp_ir>
</xacro:sharp_ir> -->
<xacro:feet_ir left_parent="left_leg_ankle_roll" right_parent="right_leg_ankle_roll" update_rate="20" range="0.01"/>
......@@ -89,5 +87,13 @@
<child link="controller"/>
<origin xyz="0 -0.01 -0.022" rpy="-1.5707 -1.5707 0" />
</joint>
<xacro:if value="$(arg use_pan_tilt)">
<xacro:pan_tilt parent="base_link">
<origin xyz="0.0 0.022 0.005" rpy="1.5707 0 3.1415" />
</xacro:pan_tilt>
<xacro:ids_xs name="bioloid_cam" parent="head">
<origin xyz="0.02 0.01 0.0" rpy="-1.5707 0 0" />
</xacro:ids_xs>
</xacro:if>
</robot>
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