Skip to content

Commit a222ba2

Browse files
BartlomiejK2BartlomiejK2
committed
Added bunch of old files, good luck Jonasz
1 parent 4517162 commit a222ba2

12 files changed

Lines changed: 1286 additions & 3 deletions

‎meldog_description/cl_commands/single_joint_test.txt‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
// Wysyłanie pozycji 1.0 dla jointa "body_1_joint"
22

3-
ros2 topic pub /joint_controller/joint_commands joint_controller_msgs/msg/JointCommand "{name: {'LFT_joint', 'LFH_joint', 'LFK_joint', 'RFT_joint', 'RFH_joint', 'RFK_joint', 'LRT_joint', 'LRH_joint', 'LRK_joint', 'RRT_joint', 'RRH_joint', 'RRK_joint'}, desired_position: [0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0], desired_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], kp_scale: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], kd_scale: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], feedforward_effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"
3+
ros2 topic pub /joint_controller/joint_commands joint_controller_msgs/msg/JointCommand "{name: {'LFT_joint', 'LFH_joint', 'LFK_joint', 'RFT_joint', 'RFH_joint', 'RFK_joint', 'LRT_joint', 'LRH_joint', 'LRK_joint', 'RRT_joint', 'RRH_joint', 'RRK_joint'}, desired_position: [0, -0.785398163, 1.57079632679, 0, -0.785398163, 1.557079632679, 0, -0.785398163, 1.57079632679, 0, -0.785398163, 1.57079632679], desired_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], kp_scale: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], kd_scale: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], feedforward_effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"
44

55

6-
ros2 topic pub /joint_controller/joint_commands joint_controller_msgs/msg/JointCommand "{name: {'LFT_joint', 'LFH_joint', 'LFK_joint', 'RFT_joint', 'RFH_joint', 'RFK_joint', 'LRT_joint', 'LRH_joint', 'LRK_joint', 'RRT_joint', 'RRH_joint', 'RRK_joint'}, desired_position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], desired_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], kp_scale: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], kd_scale: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], feedforward_effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"
6+
ros2 topic pub /joint_controller/joint_commands joint_controller_msgs/msg/JointCommand "{name: {'LFT_joint', 'LFH_joint', 'LFK_joint', 'RFT_joint', 'RFH_joint', 'RFK_joint', 'LRT_joint', 'LRH_joint', 'LRK_joint', 'RRT_joint', 'RRH_joint', 'RRK_joint'}, desired_position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], desired_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], kp_scale: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], kd_scale: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], feedforward_effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"

‎meldog_description/controllers/meldog_chained_joint_controllers.yaml‎

Lines changed: 202 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,202 @@
1+
controller_manager:
2+
ros__parameters:
3+
update_rate: 500
4+
5+
joint_controller:
6+
type: joint_controller/JointController
7+
8+
joint_state_broadcaster:
9+
type: joint_state_broadcaster/JointStateBroadcaster
10+
11+
imu_sensor_broadcaster:
12+
type: imu_sensor_broadcaster/IMUSensorBroadcaster
13+
14+
forward_position_controller:
15+
type: forward_command_controller/ForwardCommandController
16+
17+
imu_sensor_broadcaster:
18+
ros__parameters:
19+
sensor_name: "imu_sensor"
20+
frame_id: "imu"
21+
22+
forward_position_controller:
23+
ros__parameters:
24+
joints:
25+
- joint_controller/LFT_joint
26+
- joint_controller/LFH_joint
27+
- joint_controller/LFK_joint
28+
- joint_controller/RFT_joint
29+
- joint_controller/RFH_joint
30+
- joint_controller/RFK_joint
31+
- joint_controller/LRT_joint
32+
- joint_controller/LRH_joint
33+
- joint_controller/LRK_joint
34+
- joint_controller/RRT_joint
35+
- joint_controller/RRH_joint
36+
- joint_controller/RRK_joint
37+
interface_name: position
38+
39+
joint_controller:
40+
ros__parameters:
41+
joint_names:
42+
- LFT_joint
43+
- LFH_joint
44+
- LFK_joint
45+
- RFT_joint
46+
- RFH_joint
47+
- RFK_joint
48+
- LRT_joint
49+
- LRH_joint
50+
- LRK_joint
51+
- RRT_joint
52+
- RRH_joint
53+
- RRK_joint
54+
55+
joint_params:
56+
LFT_joint:
57+
position_max: 3.14
58+
position_min: -3.14
59+
position_offset: 0.0
60+
velocity_max: 15.0
61+
effort_max: 34.895
62+
63+
LFH_joint:
64+
position_max: 10000.0
65+
position_min: -10000.0
66+
position_offset: 0.0
67+
velocity_max: 15.0
68+
effort_max: 34.895
69+
70+
LFK_joint:
71+
position_max: 2.793
72+
position_min: -2.793
73+
position_offset: 0.0
74+
velocity_max: 15.0
75+
effort_max: 34.895
76+
77+
RFT_joint:
78+
position_max: 3.14
79+
position_min: -3.14
80+
position_offset: 0.0
81+
velocity_max: 15.0
82+
effort_max: 34.895
83+
84+
RFH_joint:
85+
position_max: 10000.0
86+
position_min: -10000.0
87+
position_offset: 0.0
88+
velocity_max: 15.0
89+
effort_max: 34.895
90+
91+
RFK_joint:
92+
position_max: 2.793
93+
position_min: -2.793
94+
position_offset: 0.0
95+
velocity_max: 15.0
96+
effort_max: 34.895
97+
98+
LRT_joint:
99+
position_max: 3.14
100+
position_min: -3.14
101+
position_offset: 0.0
102+
velocity_max: 15.0
103+
effort_max: 34.895
104+
105+
LRH_joint:
106+
position_max: 10000.0
107+
position_min: -10000.0
108+
position_offset: 0.0
109+
velocity_max: 15.0
110+
effort_max: 34.895
111+
112+
LRK_joint:
113+
position_max: 2.793
114+
position_min: -2.793
115+
position_offset: 0.0
116+
velocity_max: 15.0
117+
effort_max: 34.895
118+
119+
RRT_joint:
120+
position_max: 3.14
121+
position_min: -3.14
122+
position_offset: 0.0
123+
velocity_max: 15.0
124+
effort_max: 34.895
125+
126+
RRH_joint:
127+
position_max: 10000.0
128+
position_min: -10000.0
129+
position_offset: 0.0
130+
velocity_max: 15.0
131+
effort_max: 34.895
132+
133+
RRK_joint:
134+
position_max: 2.793
135+
position_min: -2.793
136+
position_offset: 0.0
137+
velocity_max: 15.0
138+
effort_max: 34.895
139+
140+
frequency: 500.0
141+
142+
pid_gains:
143+
LFT_joint:
144+
p: 209.06
145+
d: 1.5
146+
i: 0.0
147+
ilimit: 0.0
148+
LFH_joint:
149+
p: 209.06
150+
d: 1.5
151+
i: 0.0
152+
ilimit: 0.0
153+
LFK_joint:
154+
p: 209.06
155+
d: 1.5
156+
i: 15.0
157+
ilimit: 0.0
158+
RFT_joint:
159+
p: 209.06
160+
d: 1.5
161+
i: 0.0
162+
ilimit: 0.0
163+
RFH_joint:
164+
p: 209.06
165+
d: 1.5
166+
i: 0.0
167+
ilimit: 0.0
168+
RFK_joint:
169+
p: 209.06
170+
d: 1.5
171+
i: 0.0
172+
ilimit: 0.0
173+
LRT_joint:
174+
p: 209.06
175+
d: 1.5
176+
i: 0.0
177+
ilimit: 0.0
178+
LRH_joint:
179+
p: 209.06
180+
d: 1.5
181+
i: 0.0
182+
ilimit: 0.0
183+
LRK_joint:
184+
p: 209.06
185+
d: 1.5
186+
i: 0.0
187+
ilimit: 0.0
188+
RRT_joint:
189+
p: 209.06
190+
d: 1.5
191+
i: 0.0
192+
ilimit: 0.0
193+
RRH_joint:
194+
p: 209.06
195+
d: 1.5
196+
i: 0.0
197+
ilimit: 0.0
198+
RRK_joint:
199+
p: 209.06
200+
d: 1.5
201+
i: 0.0
202+
ilimit: 0.0

‎meldog_description/controllers/meldog_position_controllers.yaml‎

Lines changed: 53 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,53 @@
1+
controller_manager:
2+
ros__parameters:
3+
update_rate: 100
4+
5+
joint_state_broadcaster:
6+
type: joint_state_broadcaster/JointStateBroadcaster
7+
8+
imu_sensor_broadcaster:
9+
type: imu_sensor_broadcaster/IMUSensorBroadcaster
10+
11+
forward_position_controller:
12+
type: forward_command_controller/ForwardCommandController
13+
14+
diagnostic_broadcaster:
15+
type: diagnostic_broadcaster/DiagnosticBroadcaster
16+
17+
imu_sensor_broadcaster:
18+
ros__parameters:
19+
sensor_name: "imu_sensor"
20+
frame_id: "imu"
21+
22+
forward_position_controller:
23+
ros__parameters:
24+
joints:
25+
- LFT_joint
26+
- LFH_joint
27+
- LFK_joint
28+
- RFT_joint
29+
- RFH_joint
30+
- RFK_joint
31+
- LRT_joint
32+
- LRH_joint
33+
- LRK_joint
34+
- RRT_joint
35+
- RRH_joint
36+
- RRK_joint
37+
interface_name: position
38+
39+
diagnostic_broadcaster:
40+
ros__parameters:
41+
joint_names:
42+
- LFT_joint
43+
- LFH_joint
44+
- LFK_joint
45+
- RFT_joint
46+
- RFH_joint
47+
- RFK_joint
48+
- LRT_joint
49+
- LRH_joint
50+
- LRK_joint
51+
- RRT_joint
52+
- RRH_joint
53+
- RRK_joint

0 commit comments

Comments
 (0)