diff --git a/darwin_apps/launch/darwin_cpp.launch b/darwin_apps/launch/darwin_cpp.launch new file mode 100644 index 0000000000000000000000000000000000000000..b250cc9a5d04562de6653f830e87ff7ac55825b1 --- /dev/null +++ b/darwin_apps/launch/darwin_cpp.launch @@ -0,0 +1,14 @@ +<launch> + + <arg name="robot" default="darwin" /> + <arg name="environment" default="obstacles_env" /> + + <include file="$(find darwin_description)/launch/darwin_sim.launch"> + <arg name="robot" value="$(arg robot)" /> + </include> + +<!-- <include file="$(find bioloid_description)/launch/obstacles_env.launch"> + <arg name="environment" value="$(arg environment)" /> + </include>--> + +</launch> diff --git a/darwin_control/config/darwin_cpp.yaml b/darwin_control/config/darwin_cpp.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b4138f2f2bbceda461da6f43b762d9b1bb4ae1a2 --- /dev/null +++ b/darwin_control/config/darwin_cpp.yaml @@ -0,0 +1,136 @@ +darwin: + # Publish all joint states ----------------------------------- + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + + darwin_controller_cpp: + left_sensor_foot_present: true + right_sensor_foot_present: true + serial_device: '/dev/ttyUSB1' + baudrate: 115200 + slave_address: 2 + type: effort_controllers/DarwinControllerCPP + 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/darwin_cpp.xacro b/darwin_description/urdf/darwin_cpp.xacro new file mode 100755 index 0000000000000000000000000000000000000000..00dcca5b048cb52808696c1f814e2bc361971535 --- /dev/null +++ b/darwin_description/urdf/darwin_cpp.xacro @@ -0,0 +1,36 @@ +<robot name="darwin" xmlns:xacro="http://www.ros.org/wiki/xacro"> + + <xacro:include filename="$(find darwin_description)/urdf/darwin_low_res.xacro" /> + <xacro:include filename="$(find darwin_description)/urdf/sensors/darwin_imu.xacro" /> + <xacro:include filename="$(find darwin_description)/urdf/sensors/ids_xs.xacro" /> + <xacro:include filename="$(find darwin_description)/urdf/sensors/bno055.xacro" /> + <xacro:include filename="$(find darwin_description)/urdf/left_hand.xacro" /> + <xacro:include filename="$(find darwin_description)/urdf/right_hand.xacro" /> + <xacro:include filename="$(find darwin_description)/urdf/left_foot.xacro" /> + <xacro:include filename="$(find darwin_description)/urdf/right_foot.xacro" /> + + <xacro:left_hand parent="left_arm_high"> + <origin xyz="0.0 -0.060 0.016" rpy="-1.5707 0 0" /> + </xacro:left_hand> + + <xacro:right_hand parent="right_arm_high"> + <origin xyz="0.0 -0.06 0.016" rpy="-1.5707 0 0" /> + </xacro:right_hand> + + <xacro:left_foot parent="left_leg_ankle_pitch"> + <origin xyz="0 0 0" rpy="0 0 0" /> + </xacro:left_foot> + + <xacro:right_foot parent="right_leg_ankle_pitch"> + <origin xyz="0 0 0" rpy="0 0 0" /> + </xacro:right_foot> + + <xacro:ids_xs name="darwin_cam" parent="head"> + <origin xyz="0.0 0.005 0.045" rpy="0 -2.2777 1.5707" /> + </xacro:ids_xs> + + <xacro:bno055 name="darwin_imu" parent="base_link"> + <origin xyz="0.0 0.0 -0.05" rpy="0 0 1.5707" /> + </xacro:bno055> + +</robot>