-
Notifications
You must be signed in to change notification settings - Fork 402
/
ur5e_controllers.yaml
166 lines (149 loc) · 5.73 KB
/
ur5e_controllers.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
# Settings for ros_control control loop
hardware_control_loop:
loop_hz: &loop_hz 500
# 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
# Publish all joint states ----------------------------------
joint_state_controller:
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
# Publish speed_scaling factor
speed_scaling_state_controller:
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
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
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
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
# Pass an array of joint velocities directly to the joints
joint_group_vel_controller:
type: velocity_controllers/JointGroupVelocityController
joints: *robot_joints
forward_joint_traj_controller:
type: "pass_through_controllers/JointTrajectoryController"
joints: *robot_joints
forward_cartesian_traj_controller:
type: "pass_through_controllers/CartesianTrajectoryController"
joints: *robot_joints
twist_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
# UR driver convention
base: base
tip: tool0_controller
joints: *robot_joints
joint_based_cartesian_traj_controller:
type: position_controllers/CartesianTrajectoryController
# 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