On Tue, Aug 31, 2010 at 5:34 PM, Adam Leeper <aleeper@stanford.edu> wrote:

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>

<param name="robot_description" command="cat $(find jks_robots)/robots/disney3dof.xml" />


<include file="$(find pr2_controller_manager)/controller_manager.launch" />


<node pkg="rostopic" type="rostopic" name="fake_joint_calibration" args="pub /calibrated std_msgs/Bool true" />



<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>


<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
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