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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