Thanks Sachin, exactly what I needed. I got it working so I can move the
gripper around using a spacenav. It's fun :)


Adam Leeper
Stanford University
aleeper@stanford.edu
719.358.3804


On Tue, Aug 31, 2010 at 11:55 AM, Sachin Chitta <sachinc@willowgarage.com>wrote:

> Hey Adam,
>
> Here's a configuration file we have been using. Note though that this
> is still experimental so you may need to play with the values.
>
> Sachin
>
> <launch>
>  <node name="unspawn_arms"
>        pkg="pr2_controller_manager" type="unspawner"
>        args="l_arm_controller r_arm_controller" />
>
>  <rosparam ns="r_cart">
>    type: JTTeleopController
>    root_name: torso_lift_link
>    tip_name: r_gripper_tool_frame
>    k_posture: 25.0
>    jacobian_inverse_damping: 0.01
>    pose_command_filter: 0.01
>    cart_gains:
>      trans:
>        p: 800.0
>        d: 15.0
>      rot:
>        p: 80.0
>        d: 1.2
>    joint_feedforward:
>      r_shoulder_pan_joint: 3.33
>      r_shoulder_lift_joint: 1.16
>      r_upper_arm_roll_joint: 0.1
>      r_elbow_flex_joint: 0.25
>      r_forearm_roll_joint: 0.133
>      r_wrist_flex_joint: 0.0727
>      r_wrist_roll_joint: 0.0727
>    joint_max_effort:
>      r_shoulder_pan_joint: 11.88
>      r_shoulder_lift_joint: 11.64
>      r_upper_arm_roll_joint: 6.143
>      r_elbow_flex_joint: 6.804
>      r_forearm_roll_joint: 8.376
>      r_wrist_flex_joint: 5.568
>      r_wrist_roll_joint: 5.568
>
>    vel_saturation_trans: 2.0
>    vel_saturation_rot: 4.0
>  </rosparam>
>
>  <rosparam ns="l_cart">
>    type: JTTeleopController
>    root_name: torso_lift_link
>    tip_name: l_gripper_tool_frame
>    k_posture: 25.0
>    jacobian_inverse_damping: 0.01
>    pose_command_filter: 0.01
>    cart_gains:
>      trans:
>        p: 800.0
>        d: 15.0
>      rot:
>        p: 80.0
>        d: 1.2
>    joint_feedforward:
>      l_shoulder_pan_joint: 3.33
>      l_shoulder_lift_joint: 1.16
>      l_upper_arm_roll_joint: 0.1
>      l_elbow_flex_joint: 0.25
>      l_forearm_roll_joint: 0.133
>      l_wrist_flex_joint: 0.0727
>      l_wrist_roll_joint: 0.0727
>    joint_max_effort:
>      l_shoulder_pan_joint: 11.88
>      l_shoulder_lift_joint: 11.64
>      l_upper_arm_roll_joint: 6.143
>      l_elbow_flex_joint: 6.804
>      l_forearm_roll_joint: 8.376
>      l_wrist_flex_joint: 5.568
>      l_wrist_roll_joint: 5.568
>    vel_saturation_trans: 2.0
>    vel_saturation_rot: 4.0
>  </rosparam>
>
>  <node name="spawn_cart"
>        pkg="pr2_controller_manager" type="spawner"
>        args="l_cart r_cart" />
> </launch>
>
>
> On Tue, Aug 31, 2010 at 11:46 AM, Adam Leeper <aleeper@stanford.edu>
> wrote:
> > Hi-
> >
> > I'm sending this out as a separate request. Is there a default .yaml file
> > for the cartesian pose controller? I made my own but I totally guessed on
> > the pid gains for fb_trans and fb_rot, and I'm not sure if I'm missing
> > anything else. The controller manager loaded it so maybe it's ok...
> >
> > I've looked around a lot for information on using Cartesian pose
> controller,
> > the JTTeleop stuff, or related controllers, and I can't seem to find
> > adequate documentation on the wiki nor any configuration files in the
> > package directories. Should i be looking somewhere else?
> >
> > Thanks,
> > Adam
> >
> >
> > Adam Leeper
> > Stanford University
> > aleeper@stanford.edu
> > 719.358.3804
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
>
>
>
> --
> Sachin Chitta
> Research Scientist
> Willow Garage
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