Hi all-

I'm trying to get another robot we have here running in ROS.

I have the launch file below to load the urdf and get the controller manager
going. Right now I am using JTTeleop just because it's what I already had
working on the pr2.

When I launch and try to check the status of the controllers using
pr2_controller_manager list, it hangs and if I kill it the traceback says it
was waiting for 'pr2_controller_manager/list_controllers.' When I run the
pr2 in gazebo, that service is advertised by gazebo itself... so obviously I
have a problem.

What is the correct procedure for interfacing my own hardware with ros? I
know at some point I need to hook all this up to actual joint data coming in
off my hardware. Can someone point me to an example of how that is
published? Also, do the CartesianPoseController and JTTeleopController work
with a generic urdf, or are they pr2-specific?

Thanks,
Adam


<launch>
  <!-- load the robot urdf -->
  <param name="robot_description" command="cat $(find
jks_robots)/robots/disney3dof.xml" />

  <!-- Controller Manager -->
  <include file="$(find pr2_controller_manager)/controller_manager.launch"
/>

  <!-- Fake calibration ... necessary? -->
  <node pkg="rostopic" type="rostopic" name="fake_joint_calibration"
args="pub /calibrated std_msgs/Bool true" />

  <!-- controller stuff -->

  <rosparam ns="adam_cart">
    type: JTTeleopController
    root_name: base
    tip_name: 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:
      joint1: 0.0
      joint2: 0.0
      joint3: 0.0
    joint_max_effort:
      joint1: 10.0
      joint2: 10.0
      joint3: 10.0
    vel_saturation_trans: 2.0
    vel_saturation_rot: 4.0
  </rosparam>

<!-- Controllers that come up started -->
  <node name="default_controllers_spawner" pkg="pr2_controller_manager"
type="spawner" output="screen"
        args="--wait-for=/calibrated adam_cart" />

</launch>



Adam Leeper
Stanford University
aleeper@stanford.edu
719.358.3804


On Tue, Aug 31, 2010 at 3:00 PM, Adam Leeper <aleeper@stanford.edu> wrote:

> 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
>> _______________________________________________
>> ros-users mailing list
>> ros-users@code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>
>