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WIP: Use anchors and aliases for each joint in controller config + cleanup #554
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,166 +1,166 @@ | ||
| # Settings for ros_control control loop | ||
| hardware_control_loop: | ||
| loop_hz: &loop_hz 125 | ||
| loop_hz: &loop_hz 125 | ||
|
|
||
| # Settings for ros_control hardware interface | ||
| ur_hardware_interface: | ||
| joints: &robot_joints | ||
| - shoulder_pan_joint | ||
| - shoulder_lift_joint | ||
| - elbow_joint | ||
| - wrist_1_joint | ||
| - wrist_2_joint | ||
| - wrist_3_joint | ||
| joints: &robot_joints | ||
| - &joint1 shoulder_pan_joint | ||
| - &joint2 shoulder_lift_joint | ||
| - &joint3 elbow_joint | ||
| - &joint4 wrist_1_joint | ||
| - &joint5 wrist_2_joint | ||
| - &joint6 wrist_3_joint | ||
|
|
||
| # Publish all joint states ---------------------------------- | ||
| joint_state_controller: | ||
| type: joint_state_controller/JointStateController | ||
| publish_rate: *loop_hz | ||
| type: joint_state_controller/JointStateController | ||
| publish_rate: *loop_hz | ||
|
|
||
| # Publish wrench ---------------------------------- | ||
| force_torque_sensor_controller: | ||
| type: force_torque_sensor_controller/ForceTorqueSensorController | ||
| publish_rate: *loop_hz | ||
| type: force_torque_sensor_controller/ForceTorqueSensorController | ||
| publish_rate: *loop_hz | ||
|
|
||
| # Publish speed_scaling factor | ||
| speed_scaling_state_controller: | ||
| type: scaled_controllers/SpeedScalingStateController | ||
| publish_rate: *loop_hz | ||
| type: scaled_controllers/SpeedScalingStateController | ||
| publish_rate: *loop_hz | ||
|
|
||
| # Joint Trajectory Controller - position based ------------------------------- | ||
| # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller | ||
| scaled_pos_joint_traj_controller: | ||
| type: position_controllers/ScaledJointTrajectoryController | ||
| joints: *robot_joints | ||
| constraints: | ||
| goal_time: 0.6 | ||
| stopped_velocity_tolerance: 0.05 | ||
| shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} | ||
| shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} | ||
| elbow_joint: {trajectory: 0.2, goal: 0.1} | ||
| wrist_1_joint: {trajectory: 0.2, goal: 0.1} | ||
| wrist_2_joint: {trajectory: 0.2, goal: 0.1} | ||
| wrist_3_joint: {trajectory: 0.2, goal: 0.1} | ||
| stop_trajectory_duration: 0.5 | ||
| state_publish_rate: *loop_hz | ||
| action_monitor_rate: 20 | ||
| type: position_controllers/ScaledJointTrajectoryController | ||
| joints: *robot_joints | ||
| constraints: | ||
| goal_time: 0.6 | ||
| stopped_velocity_tolerance: 0.05 | ||
| *joint1: {trajectory: 0.2, goal: 0.1} | ||
| *joint2: {trajectory: 0.2, goal: 0.1} | ||
| *joint3: {trajectory: 0.2, goal: 0.1} | ||
| *joint4: {trajectory: 0.2, goal: 0.1} | ||
| *joint5: {trajectory: 0.2, goal: 0.1} | ||
| *joint6: {trajectory: 0.2, goal: 0.1} | ||
| stop_trajectory_duration: 0.5 | ||
| state_publish_rate: *loop_hz | ||
| action_monitor_rate: 20 | ||
|
|
||
| pos_joint_traj_controller: | ||
| type: position_controllers/JointTrajectoryController | ||
| joints: *robot_joints | ||
| constraints: | ||
| goal_time: 0.6 | ||
| stopped_velocity_tolerance: 0.05 | ||
| shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} | ||
| shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} | ||
| elbow_joint: {trajectory: 0.2, goal: 0.1} | ||
| wrist_1_joint: {trajectory: 0.2, goal: 0.1} | ||
| wrist_2_joint: {trajectory: 0.2, goal: 0.1} | ||
| wrist_3_joint: {trajectory: 0.2, goal: 0.1} | ||
| stop_trajectory_duration: 0.5 | ||
| state_publish_rate: *loop_hz | ||
| action_monitor_rate: 20 | ||
| type: position_controllers/JointTrajectoryController | ||
| joints: *robot_joints | ||
| constraints: | ||
| goal_time: 0.6 | ||
| stopped_velocity_tolerance: 0.05 | ||
| *joint1: {trajectory: 0.2, goal: 0.1} | ||
| *joint2: {trajectory: 0.2, goal: 0.1} | ||
| *joint3: {trajectory: 0.2, goal: 0.1} | ||
| *joint4: {trajectory: 0.2, goal: 0.1} | ||
| *joint5: {trajectory: 0.2, goal: 0.1} | ||
| *joint6: {trajectory: 0.2, goal: 0.1} | ||
| stop_trajectory_duration: 0.5 | ||
| state_publish_rate: *loop_hz | ||
| action_monitor_rate: 20 | ||
|
|
||
| scaled_vel_joint_traj_controller: | ||
| type: velocity_controllers/ScaledJointTrajectoryController | ||
| joints: *robot_joints | ||
| constraints: | ||
| goal_time: 0.6 | ||
| stopped_velocity_tolerance: 0.05 | ||
| shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} | ||
| shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} | ||
| elbow_joint: {trajectory: 0.1, goal: 0.1} | ||
| wrist_1_joint: {trajectory: 0.1, goal: 0.1} | ||
| wrist_2_joint: {trajectory: 0.1, goal: 0.1} | ||
| wrist_3_joint: {trajectory: 0.1, goal: 0.1} | ||
| gains: | ||
| #!!These values have not been optimized!! | ||
| shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| # Use a feedforward term to reduce the size of PID gains | ||
| velocity_ff: | ||
| shoulder_pan_joint: 1.0 | ||
| shoulder_lift_joint: 1.0 | ||
| elbow_joint: 1.0 | ||
| wrist_1_joint: 1.0 | ||
| wrist_2_joint: 1.0 | ||
| wrist_3_joint: 1.0 | ||
| stop_trajectory_duration: 0.5 | ||
| state_publish_rate: *loop_hz | ||
| action_monitor_rate: 20 | ||
| type: velocity_controllers/ScaledJointTrajectoryController | ||
| joints: *robot_joints | ||
| constraints: | ||
| goal_time: 0.6 | ||
| stopped_velocity_tolerance: 0.05 | ||
| *joint1: {trajectory: 0.1, goal: 0.1} | ||
| *joint2: {trajectory: 0.1, goal: 0.1} | ||
| *joint3: {trajectory: 0.1, goal: 0.1} | ||
| *joint4: {trajectory: 0.1, goal: 0.1} | ||
| *joint5: {trajectory: 0.1, goal: 0.1} | ||
| *joint6: {trajectory: 0.1, goal: 0.1} | ||
| gains: | ||
| #!!These values have not been optimized!! | ||
| *joint1: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| *joint2: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| *joint3: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| *joint4: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| *joint5: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| *joint6: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| # Use a feedforward term to reduce the size of PID gains | ||
| velocity_ff: | ||
| *joint1: 1.0 | ||
| *joint2: 1.0 | ||
| *joint3: 1.0 | ||
| *joint4: 1.0 | ||
| *joint5: 1.0 | ||
| *joint6: 1.0 | ||
| stop_trajectory_duration: 0.5 | ||
| state_publish_rate: *loop_hz | ||
| action_monitor_rate: 20 | ||
|
|
||
| vel_joint_traj_controller: | ||
| type: velocity_controllers/JointTrajectoryController | ||
| joints: *robot_joints | ||
| constraints: | ||
| goal_time: 0.6 | ||
| stopped_velocity_tolerance: 0.05 | ||
| shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} | ||
| shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} | ||
| elbow_joint: {trajectory: 0.1, goal: 0.1} | ||
| wrist_1_joint: {trajectory: 0.1, goal: 0.1} | ||
| wrist_2_joint: {trajectory: 0.1, goal: 0.1} | ||
| wrist_3_joint: {trajectory: 0.1, goal: 0.1} | ||
| gains: | ||
| #!!These values have not been optimized!! | ||
| shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| # Use a feedforward term to reduce the size of PID gains | ||
| velocity_ff: | ||
| shoulder_pan_joint: 1.0 | ||
| shoulder_lift_joint: 1.0 | ||
| elbow_joint: 1.0 | ||
| wrist_1_joint: 1.0 | ||
| wrist_2_joint: 1.0 | ||
| wrist_3_joint: 1.0 | ||
| stop_trajectory_duration: 0.5 | ||
| state_publish_rate: *loop_hz | ||
| action_monitor_rate: 20 | ||
| type: velocity_controllers/JointTrajectoryController | ||
| joints: *robot_joints | ||
| constraints: | ||
| goal_time: 0.6 | ||
| stopped_velocity_tolerance: 0.05 | ||
| *joint1: {trajectory: 0.1, goal: 0.1} | ||
| *joint2: {trajectory: 0.1, goal: 0.1} | ||
| *joint3: {trajectory: 0.1, goal: 0.1} | ||
| *joint4: {trajectory: 0.1, goal: 0.1} | ||
| *joint5: {trajectory: 0.1, goal: 0.1} | ||
| *joint6: {trajectory: 0.1, goal: 0.1} | ||
| gains: | ||
| #!!These values have not been optimized!! | ||
| *joint1: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| *joint2: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| *joint3: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| *joint4: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| *joint5: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| *joint6: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} | ||
| # Use a feedforward term to reduce the size of PID gains | ||
| velocity_ff: | ||
| *joint1: 1.0 | ||
| *joint2: 1.0 | ||
| *joint3: 1.0 | ||
| *joint4: 1.0 | ||
| *joint5: 1.0 | ||
| *joint6: 1.0 | ||
| stop_trajectory_duration: 0.5 | ||
| state_publish_rate: *loop_hz | ||
| action_monitor_rate: 20 | ||
|
|
||
| # Pass an array of joint velocities directly to the joints | ||
| joint_group_vel_controller: | ||
| type: velocity_controllers/JointGroupVelocityController | ||
| joints: *robot_joints | ||
| type: velocity_controllers/JointGroupVelocityController | ||
| joints: *robot_joints | ||
|
|
||
| forward_joint_traj_controller: | ||
| type: "pass_through_controllers/JointTrajectoryController" | ||
| joints: *robot_joints | ||
| type: pass_through_controllers/JointTrajectoryController | ||
| joints: *robot_joints | ||
|
|
||
| forward_cartesian_traj_controller: | ||
| type: "pass_through_controllers/CartesianTrajectoryController" | ||
| joints: *robot_joints | ||
| type: pass_through_controllers/CartesianTrajectoryController | ||
| joints: *robot_joints | ||
|
|
||
| twist_controller: | ||
| type: "ros_controllers_cartesian/TwistController" | ||
| frame_id: "tool0_controller" | ||
| type: ros_controllers_cartesian/TwistController | ||
| frame_id: tool0_controller | ||
| publish_rate: *loop_hz | ||
| joints: *robot_joints | ||
|
|
||
| pose_based_cartesian_traj_controller: | ||
| type: pose_controllers/CartesianTrajectoryController | ||
| type: pose_controllers/CartesianTrajectoryController | ||
|
|
||
| # UR driver convention | ||
| base: base | ||
| tip: tool0_controller | ||
| joints: *robot_joints | ||
| # UR driver convention | ||
| base: base | ||
| tip: tool0_controller | ||
| joints: *robot_joints | ||
|
|
||
| joint_based_cartesian_traj_controller: | ||
| type: position_controllers/CartesianTrajectoryController | ||
| type: position_controllers/CartesianTrajectoryController | ||
|
|
||
| # UR driver convention | ||
| base: base | ||
| tip: tool0 | ||
| joints: *robot_joints | ||
| # UR driver convention | ||
| base: base | ||
| tip: tool0 | ||
| joints: *robot_joints | ||
|
|
||
| robot_status_controller: | ||
| type: industrial_robot_status_controller/IndustrialRobotStatusController | ||
| handle_name: industrial_robot_status_handle | ||
| publish_rate: 10 | ||
| type: industrial_robot_status_controller/IndustrialRobotStatusController | ||
| handle_name: industrial_robot_status_handle | ||
| publish_rate: 10 | ||
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I am not sure whether using anchors for this really improves things. Yes, it is less code duplication, but in my opinion this is also less readable.
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If someone uses the prefix below in their urdf:
All the joints must be renamed, with anchors/aliases you only need to rename 6 joint names. Would something like this be better ?
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have you considered using subst_value? I don't believe you'd need to manually rename anything.
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This would work with the
/my_controller/jointsbecause they are values, but I would need to remap theconstraints,gainsandvelocity_ffnamespaces:When adding new controllers I would have to remap the new controller namespace. With the anchors solution I don't have to bother, it scales well when adding new controllers. I may be missing something...
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I don't understand what you write here.
But perhaps I also don't fully understand what you're trying to achieve.