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Revert "Merge v6.2 into main (#387)"
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This reverts commit 00920dd.
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dyackzan committed Oct 16, 2024
1 parent 00920dd commit 6ce1935
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Showing 4 changed files with 139 additions and 17 deletions.
11 changes: 1 addition & 10 deletions src/picknik_ur_base_config/launch/pro_rs_launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -56,14 +56,5 @@ def generate_launch_description():
)
return LaunchDescription(
rs_launch.declare_configurable_parameters(rs_launch.configurable_parameters)
+ [
OpaqueFunction(
function=rs_launch.launch_setup,
kwargs={
"params": rs_launch.set_configurable_parameters(
rs_launch.configurable_parameters
)
},
)
]
+ [OpaqueFunction(function=rs_launch.launch_setup)]
)
Original file line number Diff line number Diff line change
Expand Up @@ -167,11 +167,4 @@
</Control>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Request Teleoperation">
<input_port name="enable_user_interaction" default="false" />
<input_port name="user_interaction_prompt" default="" />
<input_port name="initial_teleop_mode" default="3" />
</SubTree>
</TreeNodesModel>
</root>
2 changes: 2 additions & 0 deletions src/picknik_ur_site_config/config/config.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,8 @@ ros2_control:
# [Optional, default=[]]
controllers_inactive_at_startup:
- "joint_trajectory_controller"
- "admittance_controller_open_door"
- "joint_trajectory_controller_chained_open_door"
- "joint_trajectory_admittance_controller"
- "velocity_force_controller"
# Any controllers here will not be spawned by MoveIt Pro.
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136 changes: 136 additions & 0 deletions src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,10 @@ controller_manager:
type: robotiq_controllers/RobotiqActivationController
servo_controller:
type: joint_trajectory_controller/JointTrajectoryController
admittance_controller_open_door:
type: admittance_controller/AdmittanceController
joint_trajectory_controller_chained_open_door:
type: joint_trajectory_controller/JointTrajectoryController
joint_trajectory_admittance_controller:
type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
velocity_force_controller:
Expand Down Expand Up @@ -77,6 +81,47 @@ joint_trajectory_controller:
wrist_3_joint:
goal: 0.05

joint_trajectory_controller_chained_open_door:
ros__parameters:
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
command_joints:
- admittance_controller_open_door/shoulder_pan_joint
- admittance_controller_open_door/shoulder_lift_joint
- admittance_controller_open_door/elbow_joint
- admittance_controller_open_door/wrist_1_joint
- admittance_controller_open_door/wrist_2_joint
- admittance_controller_open_door/wrist_3_joint
state_publish_rate: 100.0
action_monitor_rate: 20.0
allow_partial_joints_goal: false
constraints:
stopped_velocity_tolerance: 0.0
goal_time: 0.0
shoulder_pan_joint:
goal: 0.25
shoulder_lift_joint:
goal: 0.25
elbow_joint:
goal: 0.25
wrist_1_joint:
goal: 0.25
wrist_2_joint:
goal: 0.25
wrist_3_joint:
goal: 0.25

servo_controller:
ros__parameters:
joints:
Expand Down Expand Up @@ -127,6 +172,97 @@ robotiq_activation_controller:
ros__parameters:
default: true

admittance_controller_open_door:
ros__parameters:
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint

command_interfaces:
- position

state_interfaces:
- position
- velocity

chainable_command_interfaces:
- position
- velocity

kinematics:
plugin_name: kinematics_interface_kdl/KinematicsInterfaceKDL
plugin_package: kinematics_interface
base: base_link # Assumed to be stationary
tip: grasp_link # The end effector frame
alpha: 0.05

ft_sensor:
name: tcp_fts_sensor
frame:
id: wrist_3_link # Wrench measurements are in this frame
filter_coefficient: 0.1

control:
frame:
id: grasp_link # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector

fixed_world_frame:
frame: # Gravity points down (neg. Z) in this frame (Usually: world or base_link)
id: base_link # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector

gravity_compensation:
frame:
id: wrist_3_link

CoG: # specifies the center of gravity of the end effector
pos:
- 0.1 # x
- 0.0 # y
- 0.0 # z
force: 0.0 # mass * 9.81

admittance:
selected_axes:
- true # x
- true # y
- true # z
- true # rx
- true # ry
- true # rz

# Having ".0" at the end is MUST, otherwise there is a loading error
# F = M*a + D*v + S*(x - x_d)
mass:
- 10.0 # x
- 10.0 # y
- 10.0 # z
- 5.0 # rx
- 5.0 # ry
- 5.0 # rz

damping_ratio: # damping can be used instead: zeta = D / (2 * sqrt( M * S ))
- 5.0 # x
- 5.0 # y
- 5.0 # z
- 5.0 # rx
- 5.0 # ry
- 5.0 # rz

stiffness:
- 500.0 # x
- 500.0 # y
- 500.0 # z
- 100.0 # rx
- 100.0 # ry
- 100.0 # rz

# general settings
enable_parameter_update_without_reactivation: true

joint_trajectory_admittance_controller:
ros__parameters:
joints:
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