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Adding JointGroupVelocityControllers #224

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Nov 1, 2018
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Adding JointGroupVelocityControllers #224

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e003282
Adding JointGroupVelocityControllers.
AndyZe Oct 30, 2018
7850b30
Correction re. ros_control in Readme. Add velocity_controllers depend…
AndyZe Oct 31, 2018
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -122,7 +122,7 @@ The position based controller *should* stay closer to the commanded path, while

**Note** that the PID values are not optimally tweaked as of this moment.

To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following
To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following:

```yaml
controller_list:
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10 changes: 10 additions & 0 deletions config/ur10_controllers.yaml
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Expand Up @@ -87,3 +87,13 @@ vel_based_pos_traj_controller:
# action_monitor_rate: 20 # Defaults to 20
#hold_trajectory_duration: 0 # Defaults to 0.5

# Pass an array of joint velocities directly to the joints
joint_group_vel_controller:
type: velocity_controllers/JointGroupVelocityController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
11 changes: 11 additions & 0 deletions config/ur3_controllers.yaml
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Expand Up @@ -87,3 +87,14 @@ vel_based_pos_traj_controller:
# state_publish_rate: 50 # Defaults to 50
# action_monitor_rate: 20 # Defaults to 20
#hold_trajectory_duration: 0 # Defaults to 0.5

# Pass an array of joint velocities directly to the joints
joint_group_vel_controller:
type: velocity_controllers/JointGroupVelocityController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
10 changes: 10 additions & 0 deletions config/ur5_controllers.yaml
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Expand Up @@ -86,3 +86,13 @@ vel_based_pos_traj_controller:
# action_monitor_rate: 20 # Defaults to 20
#hold_trajectory_duration: 0 # Defaults to 0.5

# Pass an array of joint velocities directly to the joints
joint_group_vel_controller:
type: velocity_controllers/JointGroupVelocityController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
2 changes: 1 addition & 1 deletion launch/ur10_ros_control.launch
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Expand Up @@ -44,7 +44,7 @@

<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller" />
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />

<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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4 changes: 2 additions & 2 deletions launch/ur3_ros_control.launch
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Expand Up @@ -44,9 +44,9 @@

<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller" />
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />

<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

</launch>
</launch>
2 changes: 1 addition & 1 deletion launch/ur5_ros_control.launch
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Expand Up @@ -44,7 +44,7 @@

<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller" />
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />

<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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1 change: 1 addition & 0 deletions package.xml
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Expand Up @@ -34,6 +34,7 @@
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>ur_description</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>velocity_controllers</exec_depend>

<test_depend>rosunit</test_depend>
</package>