Adapted to multiples position controllers

config/ana_joint_trajectory_gazebo_config.yaml

+default_pos_tol: 0.02
+node_rate: 100
+thread_rate: 50

config/ana_pan_tilt_gazebo.yaml

 robotNamespace: ana
-robotParam: ana/robot_description
 

config/ana_pan_tilt_position_sim_config.yaml

-ana:
-
-  joint_state_controller:
-    type: "joint_state_controller/JointStateController"
-    publish_rate: 50  
-
-  position_controller:
-    type: "position_controllers/JointTrajectoryController"
-    joints:
-      - pan
-      - tilt
-    gains:
-      pan: {p: 40, d: 0, i: 10, i_clamp: 1000}
-      tilt: {p: 20, d: 0, i: 0, i_clamp: 1000}
-    constrains:
-      pan:
-        goal: 0.02
-        trajectory: 0.05
-      tilt:
-        goal: 0.02
-        trajectory: 0.05
-    state_publish_rate: 50
-    allow_partial_joints_goal: true
-
-gazebo_ros_control:   
-  pid_gains:
-    pan:
-      p: 0.01
-      i: 0.0
-      d: 0.0
-    tilt:
-      p: 0.01
-      i: 0.0
-      d: 0.0

config/ana_pan_tilt_effort_sim_config.yaml → config/ana_pan_tilt_sim_config.yaml

@@ -5,20 +5,23 @@ ana:
     publish_rate: 50  
 
   effort_controller:
-    type: "effort_controllers/JointTrajectoryController"
+    type: "effort_controllers/JointGroupEffortController"
     joints:
       - pan
       - tilt
-    gains:
-      pan: {p: 40, d: 0, i: 10, i_clamp: 1000}
-      tilt: {p: 20, d: 0, i: 0, i_clamp: 1000}
-    constrains:
-      pan:
-        goal: 0.02
-        trajectory: 0.05
-      tilt:
-        goal: 0.02
-        trajectory: 0.05
-    state_publish_rate: 50
-    allow_partial_joints_goal: true
 
+  pan_position_controller:
+    type: "effort_controllers/JointPositionController"
+    joint: pan
+    pid:
+      p: 10.0
+      i: 0.3
+      d: 0.0
+
+  tilt_position_controller:
+    type: "effort_controllers/JointPositionController"
+    joint: tilt
+    pid:
+      p: 10.0
+      i: 0.3
+      d: 0.0

launch/sim_sample.launch

@@ -8,8 +8,10 @@
   <arg name="rviz"  default="false"/>
   <arg name="gui"   default="true"/>
 
-  <arg name="pan_tilt_controller_config_file" default="$(find iri_ana_gazebo)/config/ana_pan_tilt_effort_sim_config.yaml" />
-  <arg name="pan_tilt_controller" default="effort_controller" />
+  <arg name="pan_tilt_controller_config_file" default="$(find iri_ana_gazebo)/config/ana_pan_tilt_sim_config.yaml" />
+  <arg name="joint_trajectory_config_file" default="$(find iri_ana_gazebo)/config/ana_joint_trajectory_gazebo_config.yaml"/>
+  <arg name="pan_tilt_effort_controller_ns" default="effort_controller" />
+  <arg name="pan_tilt_position_controller_ns" default="position_controller" />
 
   <include file="$(find iri_gazebo_worlds)/launch/test.launch">
     <arg name="gui"         value="$(arg gui)"/>
@@ -25,7 +27,9 @@
     <arg name="y"     value="0.0"/>
     <arg name="yaw"   value="0.0"/>
     <arg name="pan_tilt_controller_config_file"    value="$(arg pan_tilt_controller_config_file)"/>
-    <arg name="pan_tilt_controller"    value="$(arg pan_tilt_controller)"/>
+    <arg name="joint_trajectory_config_file"       value="$(arg joint_trajectory_config_file)"/>
+    <arg name="pan_tilt_effort_controller_ns"      value="$(arg pan_tilt_effort_controller_ns)"/>
+    <arg name="pan_tilt_position_controller_ns"    value="$(arg pan_tilt_position_controller_ns)"/>
   </include>
 
   <include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">

launch/spawn.launch

@@ -7,8 +7,10 @@
   <arg name="y"     default="0.0"/>
   <arg name="yaw"   default="0.0"/>
 
-  <arg name="pan_tilt_controller_config_file" default="$(find iri_ana_gazebo)/config/ana_pan_tilt_effort_sim_config.yaml" />
-  <arg name="pan_tilt_controller" default="effort_controller" />
+  <arg name="pan_tilt_controller_config_file" default="$(find iri_ana_gazebo)/config/ana_pan_tilt_sim_config.yaml" />
+  <arg name="joint_trajectory_config_file" default="$(find iri_ana_gazebo)/config/ana_joint_trajectory_gazebo_config.yaml"/>
+  <arg name="pan_tilt_effort_controller_ns"   default="effort_controller" />
+  <arg name="pan_tilt_position_controller_ns" default="position_controller" />
   
   <include file="$(find iri_ana_description)/launch/description.launch">
     <arg name="ns"            value="$(arg ns)"/>
@@ -26,9 +28,11 @@
   </group>
 
   <include file="$(find iri_joint_trajectory_gazebo)/launch/iri_joint_trajectory_gazebo.launch">
-    <arg name="config_file" value="$(arg pan_tilt_controller_config_file)"/>
-    <arg name="controller" value="$(arg pan_tilt_controller)"/>
-    <arg name="robot_ns" value="$(arg ns)"/>
+    <arg name="controller_config_file"   value="$(arg pan_tilt_controller_config_file)"/>
+    <arg name="effort_controller_ns"     value="$(arg pan_tilt_effort_controller_ns)"/>
+    <arg name="position_controller_ns"   value="$(arg pan_tilt_position_controller_ns)"/>
+    <arg name="robot_ns"                 value="$(arg ns)"/>
+    <arg name="config_file"              value="$(arg joint_trajectory_config_file)"/>
   </include>
 
 </launch>