Commit 20ff6fb9 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files
parents 4a83bd5e b0bc7f1c
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: IRL1_link
adc3_frame: gyro_x
adc4_frame: gyro_y
exp_adc1_frame: IR2_link
exp_adc8_frame: IR3_link
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:
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
<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_long name="IRL1" parent="base_link" update_rate="20" fov="0.05" min_range="0.20" max_range="1.5">
<origin xyz="0 0.05 0.035" rpy="-1.5707 -1.5707 0" />
</xacro:sharp_ir_long>
<!-- <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>
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment