diff --git a/bioloid_apps/launch/ceabot/ceabot_base.launch b/bioloid_apps/launch/ceabot/ceabot_base.launch
new file mode 100644
index 0000000000000000000000000000000000000000..0ed83b4e390c83a92c04a3c8baf7fa8caba43e11
--- /dev/null
+++ b/bioloid_apps/launch/ceabot/ceabot_base.launch
@@ -0,0 +1,24 @@
+<launch>
+
+ <arg name="robot" default="bioloid_ceabot" />
+
+ <include file="$(find bioloid_description)/launch/bioloid_cm510_sim.launch">
+ <arg name="robot" value="$(arg robot)" />
+ </include>
+
+ <!-- launch the action client node -->
+ <node name="cm510_buttons"
+ pkg="bioloid_cm510_buttons"
+ type="bioloid_cm510_buttons"
+ output="screen"
+ ns="/bioloid">
+ <remap from="/bioloid/cm510_buttons/buttons"
+ to="/bioloid/sensors/pushbuttons"/>
+ </node>
+
+ <!-- launch dynamic reconfigure -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+ output="screen"/>
+
+</launch>
+
diff --git a/bioloid_cm510_buttons/CMakeLists.txt b/bioloid_cm510_buttons/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..089db792358aab69bf930532a0786232416ee29f
--- /dev/null
+++ b/bioloid_cm510_buttons/CMakeLists.txt
@@ -0,0 +1,101 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(bioloid_cm510_buttons)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED)
+# ********************************************************************
+# Add catkin additional components here
+# ********************************************************************
+find_package(catkin REQUIRED COMPONENTS iri_base_algorithm std_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+# ********************************************************************
+# Add system and labrobotica dependencies here
+# ********************************************************************
+# find_package(<dependency> REQUIRED)
+
+# ********************************************************************
+# Add topic, service and action definition here
+# ********************************************************************
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+# ********************************************************************
+# Add the dynamic reconfigure file
+# ********************************************************************
+generate_dynamic_reconfigure_options(cfg/BioloidCm510Buttons.cfg)
+
+# ********************************************************************
+# Add run time dependencies here
+# ********************************************************************
+catkin_package(
+# INCLUDE_DIRS
+# LIBRARIES
+# ********************************************************************
+# Add ROS and IRI ROS run time dependencies
+# ********************************************************************
+ CATKIN_DEPENDS iri_base_algorithm std_msgs
+# ********************************************************************
+# Add system and labrobotica run time dependencies here
+# ********************************************************************
+# DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+# ********************************************************************
+# Add the include directories
+# ********************************************************************
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+# include_directories(${<dependency>_INCLUDE_DIR})
+
+## Declare a cpp library
+# add_library(${PROJECT_NAME} <list of source files>)
+
+## Declare a cpp executable
+add_executable(${PROJECT_NAME} src/bioloid_cm510_buttons_alg.cpp src/bioloid_cm510_buttons_alg_node.cpp)
+
+# ********************************************************************
+# Add the libraries
+# ********************************************************************
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
+
+# ********************************************************************
+# Add message headers dependencies
+# ********************************************************************
+# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} std_msgs_generate_messages_cpp)
+# ********************************************************************
+# Add dynamic reconfigure dependencies
+# ********************************************************************
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
diff --git a/bioloid_cm510_buttons/cfg/BioloidCm510Buttons.cfg b/bioloid_cm510_buttons/cfg/BioloidCm510Buttons.cfg
new file mode 100755
index 0000000000000000000000000000000000000000..6e517ff226331d9a4b3ab67fff702ffca7bba0ae
--- /dev/null
+++ b/bioloid_cm510_buttons/cfg/BioloidCm510Buttons.cfg
@@ -0,0 +1,48 @@
+#! /usr/bin/env python
+#* All rights reserved.
+#*
+#* Redistribution and use in source and binary forms, with or without
+#* modification, are permitted provided that the following conditions
+#* are met:
+#*
+#* * Redistributions of source code must retain the above copyright
+#* notice, this list of conditions and the following disclaimer.
+#* * Redistributions in binary form must reproduce the above
+#* copyright notice, this list of conditions and the following
+#* disclaimer in the documentation and/or other materials provided
+#* with the distribution.
+#* * Neither the name of the Willow Garage nor the names of its
+#* contributors may be used to endorse or promote products derived
+#* from this software without specific prior written permission.
+#*
+#* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#* POSSIBILITY OF SUCH DAMAGE.
+#***********************************************************
+
+# Author:
+
+PACKAGE='bioloid_cm510_buttons'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+# Name Type Reconfiguration level Description Default Min Max
+#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
+gen.add("start_button", bool_t, 0, "CM510 start button", False)
+gen.add("up_button", bool_t, 0, "CM510 up button", False)
+gen.add("down_button", bool_t, 0, "CM510 down button", False)
+gen.add("left_button", bool_t, 0, "CM510 left button", False)
+gen.add("right_button", bool_t, 0, "CM510 right button", False)
+
+exit(gen.generate(PACKAGE, "BioloidCm510ButtonsAlgorithm", "BioloidCm510Buttons"))
diff --git a/bioloid_cm510_buttons/include/bioloid_cm510_buttons_alg.h b/bioloid_cm510_buttons/include/bioloid_cm510_buttons_alg.h
new file mode 100644
index 0000000000000000000000000000000000000000..9db74349bc999a4c6e5bc636c6bf0822cdb89114
--- /dev/null
+++ b/bioloid_cm510_buttons/include/bioloid_cm510_buttons_alg.h
@@ -0,0 +1,131 @@
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _bioloid_cm510_buttons_alg_h_
+#define _bioloid_cm510_buttons_alg_h_
+
+#include <bioloid_cm510_buttons/BioloidCm510ButtonsConfig.h>
+
+//include bioloid_cm510_buttons_alg main library
+
+/**
+ * \brief IRI ROS Specific Driver Class
+ *
+ *
+ */
+class BioloidCm510ButtonsAlgorithm
+{
+ protected:
+ /**
+ * \brief define config type
+ *
+ * Define a Config type with the BioloidCm510ButtonsConfig. All driver implementations
+ * will then use the same variable type Config.
+ */
+ pthread_mutex_t access_;
+
+ // private attributes and methods
+
+ public:
+ /**
+ * \brief define config type
+ *
+ * Define a Config type with the BioloidCm510ButtonsConfig. All driver implementations
+ * will then use the same variable type Config.
+ */
+ typedef bioloid_cm510_buttons::BioloidCm510ButtonsConfig Config;
+
+ /**
+ * \brief config variable
+ *
+ * This variable has all the driver parameters defined in the cfg config file.
+ * Is updated everytime function config_update() is called.
+ */
+ Config config_;
+
+ /**
+ * \brief constructor
+ *
+ * In this constructor parameters related to the specific driver can be
+ * initalized. Those parameters can be also set in the openDriver() function.
+ * Attributes from the main node driver class IriBaseDriver such as loop_rate,
+ * may be also overload here.
+ */
+ BioloidCm510ButtonsAlgorithm(void);
+
+ /**
+ * \brief Lock Algorithm
+ *
+ * Locks access to the Algorithm class
+ */
+ void lock(void) { pthread_mutex_lock(&this->access_); };
+
+ /**
+ * \brief Unlock Algorithm
+ *
+ * Unlocks access to the Algorithm class
+ */
+ void unlock(void) { pthread_mutex_unlock(&this->access_); };
+
+ /**
+ * \brief Tries Access to Algorithm
+ *
+ * Tries access to Algorithm
+ *
+ * \return true if the lock was adquired, false otherwise
+ */
+ bool try_enter(void)
+ {
+ if(pthread_mutex_trylock(&this->access_)==0)
+ return true;
+ else
+ return false;
+ };
+
+ /**
+ * \brief config update
+ *
+ * In this function the driver parameters must be updated with the input
+ * config variable. Then the new configuration state will be stored in the
+ * Config attribute.
+ *
+ * \param new_cfg the new driver configuration state
+ *
+ * \param level level in which the update is taken place
+ */
+ void config_update(Config& config, uint32_t level=0);
+
+ // here define all bioloid_cm510_buttons_alg interface methods to retrieve and set
+ // the driver parameters
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor is called when the object is about to be destroyed.
+ *
+ */
+ ~BioloidCm510ButtonsAlgorithm(void);
+};
+
+#endif
diff --git a/bioloid_cm510_buttons/include/bioloid_cm510_buttons_alg_node.h b/bioloid_cm510_buttons/include/bioloid_cm510_buttons_alg_node.h
new file mode 100644
index 0000000000000000000000000000000000000000..c732e9a64a8598041a7d4da7d98d283125765cad
--- /dev/null
+++ b/bioloid_cm510_buttons/include/bioloid_cm510_buttons_alg_node.h
@@ -0,0 +1,126 @@
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _bioloid_cm510_buttons_alg_node_h_
+#define _bioloid_cm510_buttons_alg_node_h_
+
+#include <iri_base_algorithm/iri_base_algorithm.h>
+#include "bioloid_cm510_buttons_alg.h"
+
+// [publisher subscriber headers]
+#include <std_msgs/Char.h>
+
+// [service client headers]
+
+// [action server client headers]
+
+/**
+ * \brief IRI ROS Specific Algorithm Class
+ *
+ */
+class BioloidCm510ButtonsAlgNode : public algorithm_base::IriBaseAlgorithm<BioloidCm510ButtonsAlgorithm>
+{
+ private:
+ // [publisher attributes]
+ ros::Publisher buttons_publisher_;
+ std_msgs::Char buttons_Char_msg_;
+
+
+ // [subscriber attributes]
+
+ // [service attributes]
+
+ // [client attributes]
+
+ // [action server attributes]
+
+ // [action client attributes]
+
+ /**
+ * \brief config variable
+ *
+ * This variable has all the driver parameters defined in the cfg config file.
+ * Is updated everytime function config_update() is called.
+ */
+ Config config_;
+ public:
+ /**
+ * \brief Constructor
+ *
+ * This constructor initializes specific class attributes and all ROS
+ * communications variables to enable message exchange.
+ */
+ BioloidCm510ButtonsAlgNode(void);
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor frees all necessary dynamic memory allocated within this
+ * this class.
+ */
+ ~BioloidCm510ButtonsAlgNode(void);
+
+ protected:
+ /**
+ * \brief main node thread
+ *
+ * This is the main thread node function. Code written here will be executed
+ * in every node loop while the algorithm is on running state. Loop frequency
+ * can be tuned by modifying loop_rate attribute.
+ *
+ * Here data related to the process loop or to ROS topics (mainly data structs
+ * related to the MSG and SRV files) must be updated. ROS publisher objects
+ * must publish their data in this process. ROS client servers may also
+ * request data to the corresponding server topics.
+ */
+ void mainNodeThread(void);
+
+ /**
+ * \brief dynamic reconfigure server callback
+ *
+ * This method is called whenever a new configuration is received through
+ * the dynamic reconfigure. The derivated generic algorithm class must
+ * implement it.
+ *
+ * \param config an object with new configuration from all algorithm
+ * parameters defined in the config file.
+ * \param level integer referring the level in which the configuration
+ * has been changed.
+ */
+ void node_config_update(Config &config, uint32_t level);
+
+ /**
+ * \brief node add diagnostics
+ *
+ * In this abstract function additional ROS diagnostics applied to the
+ * specific algorithms may be added.
+ */
+ void addNodeDiagnostics(void);
+
+ // [diagnostic functions]
+
+ // [test functions]
+};
+
+#endif
diff --git a/bioloid_cm510_buttons/package.xml b/bioloid_cm510_buttons/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c416636eb17d5764ea70bbbfd1ed5e625583140c
--- /dev/null
+++ b/bioloid_cm510_buttons/package.xml
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<package>
+ <name>bioloid_cm510_buttons</name>
+ <version>0.0.0</version>
+ <description>The bioloid_cm510_buttons package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="sergi@todo.todo">sergi</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>LGPL</license>
+
+
+ <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/bioloid_cm510_buttons</url> -->
+
+
+ <!-- Author tags are optional, mutiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintianers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>iri_base_algorithm</build_depend>
+ <build_depend>std_msgs</build_depend>
+ <run_depend>iri_base_algorithm</run_depend>
+ <run_depend>std_msgs</run_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
\ No newline at end of file
diff --git a/bioloid_cm510_buttons/src/bioloid_cm510_buttons_alg.cpp b/bioloid_cm510_buttons/src/bioloid_cm510_buttons_alg.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d5a349839993c14b913853c60e71085daf07712b
--- /dev/null
+++ b/bioloid_cm510_buttons/src/bioloid_cm510_buttons_alg.cpp
@@ -0,0 +1,23 @@
+#include "bioloid_cm510_buttons_alg.h"
+
+BioloidCm510ButtonsAlgorithm::BioloidCm510ButtonsAlgorithm(void)
+{
+ pthread_mutex_init(&this->access_,NULL);
+}
+
+BioloidCm510ButtonsAlgorithm::~BioloidCm510ButtonsAlgorithm(void)
+{
+ pthread_mutex_destroy(&this->access_);
+}
+
+void BioloidCm510ButtonsAlgorithm::config_update(Config& config, uint32_t level)
+{
+ this->lock();
+
+ // save the current configuration
+ this->config_=config;
+
+ this->unlock();
+}
+
+// BioloidCm510ButtonsAlgorithm Public API
diff --git a/bioloid_cm510_buttons/src/bioloid_cm510_buttons_alg_node.cpp b/bioloid_cm510_buttons/src/bioloid_cm510_buttons_alg_node.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b18208334a1d260e2bc9de1c0408060b40f1eaf6
--- /dev/null
+++ b/bioloid_cm510_buttons/src/bioloid_cm510_buttons_alg_node.cpp
@@ -0,0 +1,91 @@
+#include "bioloid_cm510_buttons_alg_node.h"
+
+BioloidCm510ButtonsAlgNode::BioloidCm510ButtonsAlgNode(void) :
+ algorithm_base::IriBaseAlgorithm<BioloidCm510ButtonsAlgorithm>()
+{
+ //init class attributes if necessary
+ //this->loop_rate_ = 2;//in [Hz]
+
+ // [init publishers]
+ this->buttons_publisher_ = this->public_node_handle_.advertise<std_msgs::Char>("buttons", 1);
+
+ // [init subscribers]
+
+ // [init services]
+
+ // [init clients]
+
+ // [init action servers]
+
+ // [init action clients]
+}
+
+BioloidCm510ButtonsAlgNode::~BioloidCm510ButtonsAlgNode(void)
+{
+ // [free dynamic memory]
+}
+
+void BioloidCm510ButtonsAlgNode::mainNodeThread(void)
+{
+ // [fill msg structures]
+ // Initialize the topic message structure
+ //this->buttons_Char_msg_.data = my_var;
+
+
+ // [fill srv structure and make request to the server]
+
+ // [fill action structure and make request to the action server]
+
+ // [publish messages]
+
+}
+
+/* [subscriber callbacks] */
+
+/* [service callbacks] */
+
+/* [action callbacks] */
+
+/* [action requests] */
+
+void BioloidCm510ButtonsAlgNode::node_config_update(Config &config, uint32_t level)
+{
+ unsigned char byte=0x00;
+
+ this->alg_.lock();
+ this->config_=config;
+ if(config.start_button)
+ byte|=0x01;
+ else
+ byte&=0xFE;
+ if(config.up_button)
+ byte|=0x10;
+ else
+ byte&=0xEF;
+ if(config.down_button)
+ byte|=0x20;
+ else
+ byte&=0xDF;
+ if(config.left_button)
+ byte|=0x40;
+ else
+ byte&=0xBF;
+ if(config.right_button)
+ byte|=0x80;
+ else
+ byte&=0x7F;
+ this->buttons_Char_msg_.data=byte;
+ // Uncomment the following line to publish the topic message
+ this->buttons_publisher_.publish(this->buttons_Char_msg_);
+ this->alg_.unlock();
+}
+
+void BioloidCm510ButtonsAlgNode::addNodeDiagnostics(void)
+{
+}
+
+/* main function */
+int main(int argc,char *argv[])
+{
+ return algorithm_base::main<BioloidCm510ButtonsAlgNode>(argc, argv, "bioloid_cm510_buttons_alg_node");
+}
diff --git a/bioloid_control/config/bioloid_cm510_control.yaml b/bioloid_control/config/bioloid_cm510_control.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0e1b647a50c64737cc85b37d6d07861be6ce8b02
--- /dev/null
+++ b/bioloid_control/config/bioloid_cm510_control.yaml
@@ -0,0 +1,177 @@
+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_adc1_frame: IR2_link
+ exp_board_id: 192
+ 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_control/config/bioloid_control.yaml b/bioloid_control/config/bioloid_control.yaml
index 5d9613efdd29b4b86a536617d750e40f1e65a0ce..fffb7b0566e5582fc845b23502122151b1612917 100644
--- a/bioloid_control/config/bioloid_control.yaml
+++ b/bioloid_control/config/bioloid_control.yaml
@@ -5,12 +5,7 @@ bioloid:
publish_rate: 50
bioloid_cont:
- type: effort_controllers/BioloidControllerCM510
- adc1_frame: IR1_link
- adc3_frame: gyro_x
- adc4_frame: gyro_y
- exp_adc1_frame: IR2_link
- exp_board_id: 192
+ type: effort_controllers/BioloidController
joints:
- j_shoulder_r
- j_shoulder_l
diff --git a/bioloid_control/launch/bioloid_cm510_control.launch b/bioloid_control/launch/bioloid_cm510_control.launch
new file mode 100644
index 0000000000000000000000000000000000000000..d3dc6973a41bc109d205d431798cb2021ce04745
--- /dev/null
+++ b/bioloid_control/launch/bioloid_cm510_control.launch
@@ -0,0 +1,19 @@
+<launch>
+
+ <!-- Load joint controller configurations from YAML file to parameter server -->
+ <rosparam file="$(find bioloid_control)/config/bioloid_cm510_control.yaml" command="load"/>
+
+ <param name="motions_file" value="$(find bioloid_controller_cm510)/motions/bio_prm_humanoidtypea_en.mtn"/>
+
+ <!-- load the controllers -->
+ <node name="controller_spawner"
+ pkg="controller_manager"
+ type="spawner"
+ respawn="false"
+ output="screen"
+ ns="/bioloid"
+ args="joint_state_controller bioloid_cm510_cont">
+ </node>
+
+</launch>
+
diff --git a/bioloid_control/launch/bioloid_control.launch b/bioloid_control/launch/bioloid_control.launch
index 5b6442e014cf3ae99fc5049a17d14fe1743d7789..8958d9ddea5b196c0621a483a274eb7b851a19d4 100644
--- a/bioloid_control/launch/bioloid_control.launch
+++ b/bioloid_control/launch/bioloid_control.launch
@@ -3,8 +3,6 @@
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find bioloid_control)/config/bioloid_control.yaml" command="load"/>
- <param name="motions_file" value="$(find bioloid_controller_cm510)/motions/bio_prm_humanoidtypea_en.mtn"/>
-
<!-- load the controllers -->
<node name="controller_spawner"
pkg="controller_manager"
diff --git a/bioloid_controller_cm510/include/bioloid_controller_cm510.h b/bioloid_controller_cm510/include/bioloid_controller_cm510.h
index 05b1385c36676b1a2d89ab06618b3f826b15cee7..93f10c5bcc4e73d324f99f40f10f024ae0635d06 100644
--- a/bioloid_controller_cm510/include/bioloid_controller_cm510.h
+++ b/bioloid_controller_cm510/include/bioloid_controller_cm510.h
@@ -46,7 +46,7 @@
#include "std_msgs/Int32.h"
#include "sensor_msgs/Imu.h"
#include "sensor_msgs/Range.h"
-#include "std_msgs/Byte.h"
+#include "std_msgs/Char.h"
// URDF
#include <urdf/model.h>
@@ -120,7 +120,7 @@ namespace bioloid_controller_cm510
ros::Subscriber range_sub;
void range_callback(const sensor_msgs::Range::ConstPtr& msg);
ros::Subscriber pushbuttons_sub;
- void pushbuttons_callback(const std_msgs::Byte::ConstPtr& msg);
+ void pushbuttons_callback(const std_msgs::Char::ConstPtr& msg);
// ROS API
ros::NodeHandle controller_nh_;
diff --git a/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h b/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h
index 4078057bedcf0e93f2602c72f04f3db5549b5cd2..6468d9a9568fc67401e38085eb186e7c3992d7a1 100644
--- a/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h
+++ b/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h
@@ -431,7 +431,7 @@ namespace bioloid_controller_cm510
}
template <class HardwareInterface>
- void BioloidControllerCM510<HardwareInterface>::pushbuttons_callback(const std_msgs::Byte::ConstPtr& msg)
+ void BioloidControllerCM510<HardwareInterface>::pushbuttons_callback(const std_msgs::Char::ConstPtr& msg)
{
if(msg->data&BTN_UP)
PINE&=~BTN_UP;
diff --git a/bioloid_description/launch/bioloid_cm510_sim.launch b/bioloid_description/launch/bioloid_cm510_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..969ea24147cd68fdde4ba9cf8efdfb15b207f9b7
--- /dev/null
+++ b/bioloid_description/launch/bioloid_cm510_sim.launch
@@ -0,0 +1,11 @@
+<launch>
+
+ <arg name="robot" default="bioloid_ceabot" />
+
+ <include file="$(find bioloid_gazebo)/launch/bioloid_gazebo.launch">
+ <arg name="robot" value="$(arg robot)"/>
+ </include>
+
+ <include file="$(find bioloid_control)/launch/bioloid_cm510_control.launch"/>
+
+</launch>
diff --git a/bioloid_robot/package.xml b/bioloid_robot/package.xml
index 812d6b95b520720d3f6d09357f7d489bc576ba63..3e952b9dba595bd122f54a508834f6df1acf0270 100644
--- a/bioloid_robot/package.xml
+++ b/bioloid_robot/package.xml
@@ -45,6 +45,7 @@
<run_depend>bioloid_control</run_depend>
<run_depend>bioloid_controller</run_depend>
<run_depend>bioloid_controller_cm510</run_depend>
+ <run_depend>bioloid_cm510_buttons</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>