[ros-users] yaml file for CartesianPoseController, JTTeleop, etc?

[Sachin Chitta]

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 at 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 at stanford.edu
> 719.358.3804
>
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>



-- 
Sachin Chitta
Research Scientist
Willow Garage