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Commit a6fbf768 authored by Sergi Hernandez's avatar Sergi Hernandez
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Solved a problem with the ADC Port2 of the CM510 controller. 

Changes in the dynamic parameters of the robot to allow most of the motions to work properly. Lateral movements are not yet working.
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bioloid_control/config/bioloid_cm510_control.yaml
+ 19
− 73
View file @ a6fbf768
......@@ -6,7 +6,7 @@ bioloid:
bioloid_cm510_cont:
type: effort_controllers/BioloidControllerCM510
adc1_frame: IR1_link
adc2_frame: IR1_link
adc3_frame: gyro_x
adc4_frame: gyro_y
exp_adc1_frame: IR2_link
......@@ -42,143 +42,89 @@ bioloid:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_high_arm_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_low_arm_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_shoulder_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_high_arm_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_low_arm_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_pelvis_yaw_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_pelvis_roll_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_pelvis_pitch_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_knee_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_ankle_pitch_l:
p: 4.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_ankle_roll_l:
p: 4.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_pelvis_yaw_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_pelvis_roll_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_pelvis_pitch_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_knee_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_ankle_pitch_r:
p: 4.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
j_ankle_roll_r:
p: 4.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 12.0
effort_limit: 2.5
i_clamp: 0.0
bioloid_control/config/bioloid_control.yaml
+ 18
− 72
View file @ a6fbf768
......@@ -30,143 +30,89 @@ bioloid:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
i_clamp: 0.0
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
i_clamp: 0.0
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
i_clamp: 0.0
j_shoulder_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
i_clamp: 0.0
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
i_clamp: 0.0
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
i_clamp: 0.0
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
i_clamp: 0.0
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
i_clamp: 0.0
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
i_clamp: 0.0
j_knee_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
i_clamp: 0.0
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
i_clamp: 0.0
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
i_clamp: 0.0
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
i_clamp: 0.0
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
i_clamp: 0.0
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
i_clamp: 0.0
j_knee_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
i_clamp: 0.0
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
i_clamp: 0.0
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
i_clamp: 0.0
bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h
+ 7
− 1
View file @ a6fbf768
......@@ -329,7 +329,11 @@ namespace bioloid_controller_cm510
/* get the actual simulation angles */
for(unsigned int i=0;i<this->joints_.size();++i)
{
real_angles[i]=joints_[i].getPosition();
std::cout << real_angles[i] << ",";
}
std::cout << std::endl;
pushbuttons_loop();
adc_loop();
exp_board_loop();
......@@ -344,8 +348,10 @@ namespace bioloid_controller_cm510
{
target_angles[i] = ((((manager_servos[i].current_value+balance_offsets[i]-manager_servos[i].center_value)*300.0/1023.0)*3.14159)/180.0);
const double command = this->pids_[i]->computeCommand(target_angles[i]-real_angles[i],period);
std::cout << target_angles[i] << ",";
this->joints_[i].setCommand(command);
}
std::cout << std::endl;
}
template <class HardwareInterface>
......@@ -581,7 +587,7 @@ namespace bioloid_controller_cm510
else if(!this->found_gyro_y && this->adc1_frame=="gyro_y")
this->found_gyro_y=true;
this->adc2_frame="none";
nh.getParam("adc1_frame", this->adc2_frame);
nh.getParam("adc2_frame", this->adc2_frame);
ROS_DEBUG_STREAM_NAMED(name_, "CM510 ADC2 associated to sensor: " << this->adc2_frame);
if(!this->found_gyro_x && this->adc2_frame=="gyro_x")
this->found_gyro_x=true;
......
bioloid_description/urdf/bioloid.xacro
+ 36
− 36
View file @ a6fbf768
......@@ -444,8 +444,8 @@
<child link="right_shoulder"/>
<origin xyz="-0.07188 0.0 0" rpy="-1.5707 0 0" />
<axis xyz="-1 0 0" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_shoulder_r">
......@@ -464,8 +464,8 @@
<child link="right_arm_high"/>
<origin xyz="0 -0.0145 0.0" rpy="0 0 -1.5707" />
<axis xyz="0 0 -1" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_high_arm_r">
......@@ -484,8 +484,8 @@
<child link="right_arm_low"/>
<origin xyz="0.0 -0.0675 0.0" rpy="0 0 0" />
<axis xyz="0 0 -1" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_low_arm_r">
......@@ -504,8 +504,8 @@
<child link="left_shoulder"/>
<origin xyz="0.07188 0.0 0" rpy="-1.5707 0 0" />
<axis xyz="1 0 0" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_shoulder_l">
......@@ -524,8 +524,8 @@
<child link="left_arm_high"/>
<origin xyz="0 -0.0145 0.0" rpy="0 0 1.5707" />
<axis xyz="0 0 -1" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_high_arm_l">
......@@ -544,8 +544,8 @@
<child link="left_arm_low"/>
<origin xyz="0.0 -0.0675 0.0" rpy="0 0 0" />
<axis xyz="0 0 -1" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_low_arm_l">
......@@ -564,8 +564,8 @@
<child link="right_leg_pelvis_yaw"/>
<origin xyz="-0.0385 -0.12037 0.0" rpy="0 -0.7854 0" />
<axis xyz="0 -1 0" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_pelvis_yaw_r">
......@@ -584,8 +584,8 @@
<child link="right_leg_pelvis_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_pelvis_roll_r">
......@@ -604,8 +604,8 @@
<child link="right_leg_pelvis_pitch"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_pelvis_pitch_r">
......@@ -624,8 +624,8 @@
<child link="right_leg_knee"/>
<origin xyz="0 -0.075 -0.01488" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_knee_r">
......@@ -644,8 +644,8 @@
<child link="right_leg_ankle_pitch"/>
<origin xyz="0 -0.075 0.01488" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_ankle_pitch_r">
......@@ -664,8 +664,8 @@
<child link="right_leg_ankle_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 -1" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_ankle_roll_r">
......@@ -684,8 +684,8 @@
<child link="left_leg_pelvis_yaw"/>
<origin xyz="0.0385 -0.12037 0.0" rpy="0 0.7853 0" />
<axis xyz="0 -1 0" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_pelvis_yaw_l">
......@@ -704,8 +704,8 @@
<child link="left_leg_pelvis_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_pelvis_roll_l">
......@@ -724,8 +724,8 @@
<child link="left_leg_pelvis_pitch"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_pelvis_pitch_l">
......@@ -744,8 +744,8 @@
<child link="left_leg_knee"/>
<origin xyz="0 -0.075 -0.01488" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_knee_l">
......@@ -764,8 +764,8 @@
<child link="left_leg_ankle_pitch"/>
<origin xyz="0 -0.075 0.01488" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_ankle_pitch_l">
......@@ -784,8 +784,8 @@
<child link="left_leg_ankle_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 -1" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
<limit effort="1.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.15"/>
</joint>
<transmission name="tran_ankle_roll_l">
......
bioloid_gazebo/worlds/bioloid.world
+ 2
− 0
View file @ a6fbf768
......@@ -4,6 +4,8 @@
<physics type="ode">
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<!-- <real_time_factor>0.1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>-->
<max_step_size>0.001</max_step_size>
<gravity>0 0 -9.8</gravity>
<ode>
......
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