From b01c5cb7d5c701c1fdfd7544ba730b527aab744f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Wed, 30 Aug 2017 18:19:35 +0200
Subject: [PATCH] Added a namespace in the CNY70 sensors. Added a control
parameter file for the Darwin robot used for the CEABOT competition.
---
darwin_control/config/darwin_ceabot.yaml | 131 ++++++++++++++++++
.../urdf/left_sensor_foot.xacro | 16 +--
.../urdf/right_sensor_foot.xacro | 16 +--
3 files changed, 147 insertions(+), 16 deletions(-)
create mode 100644 darwin_control/config/darwin_ceabot.yaml
diff --git a/darwin_control/config/darwin_ceabot.yaml b/darwin_control/config/darwin_ceabot.yaml
new file mode 100644
index 0000000..f3f8861
--- /dev/null
+++ b/darwin_control/config/darwin_ceabot.yaml
@@ -0,0 +1,131 @@
+darwin:
+ # Publish all joint states -----------------------------------
+ joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 50
+
+ darwin_controller:
+ type: effort_controllers/DarwinController
+ joints:
+ - j_shoulder_pitch_r
+ - j_shoulder_pitch_l
+ - j_shoulder_roll_r
+ - j_shoulder_roll_l
+ - j_elbow_r
+ - j_elbow_l
+ - j_hip_yaw_r
+ - j_hip_yaw_l
+ - j_hip_roll_r
+ - j_hip_roll_l
+ - j_hip_pitch_r
+ - j_hip_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_pitch_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_shoulder_roll_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_elbow_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_shoulder_pitch_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_shoulder_roll_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_elbow_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_yaw_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_roll_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_pitch_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_knee_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_ankle_pitch_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_ankle_roll_l:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_yaw_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_roll_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_hip_pitch_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_knee_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_ankle_pitch_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_ankle_roll_r:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_pan:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+ j_tilt:
+ p: 16.0
+ d: 0.0
+ i: 0.0
+ i_clamp: 100
+
diff --git a/darwin_description/urdf/left_sensor_foot.xacro b/darwin_description/urdf/left_sensor_foot.xacro
index d9ad32f..76829b7 100755
--- a/darwin_description/urdf/left_sensor_foot.xacro
+++ b/darwin_description/urdf/left_sensor_foot.xacro
@@ -49,35 +49,35 @@
</actuator>
</transmission>
- <xacro:cny70_ir name="left_down_right_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_right_rear" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0185 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_down_right_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_right_middle" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0185 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_down_right_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_right_front" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.011 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_down_left_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_left_rear" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0335 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_down_left_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_left_middle" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0335 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_down_left_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_down_left_front" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.026 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_front_right" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_front_right" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0186 -0.0285 0.051" rpy="0 -1.5707 0" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="left_front_left" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="left_front_left" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0336 -0.0285 0.051" rpy="-1.5707 -1.5707 0" />
</xacro:cny70_ir>
diff --git a/darwin_description/urdf/right_sensor_foot.xacro b/darwin_description/urdf/right_sensor_foot.xacro
index f70603c..971b571 100755
--- a/darwin_description/urdf/right_sensor_foot.xacro
+++ b/darwin_description/urdf/right_sensor_foot.xacro
@@ -49,35 +49,35 @@
</actuator>
</transmission>
- <xacro:cny70_ir name="right_down_right_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_right_rear" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0335 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_down_right_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_right_middle" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0335 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_down_right_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_right_front" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.026 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_down_left_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_left_rear" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0185 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_down_left_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_left_middle" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0185 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_down_left_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_down_left_front" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.011 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_front_right" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_front_right" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0336 -0.0285 0.051" rpy="0 -1.5707 0" />
</xacro:cny70_ir>
- <xacro:cny70_ir name="right_front_left" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+ <xacro:cny70_ir name="right_front_left" namespace="darwin" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0186 -0.0285 0.051" rpy="-1.5707 -1.5707 0" />
</xacro:cny70_ir>
--
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