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Add a JointTrajectoryController config #186

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Add a JointTrajectoryController config #186

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34d64e6
Add a JointTrajectoryController config
rhaschke Oct 27, 2021
ce95e32
Unify names of JointTrajectoryController: joint_trajectory_controller
rhaschke Oct 27, 2021
3f06e43
Define commonly named default joint_trajectory_controller as alias
rhaschke Nov 7, 2021
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5 changes: 4 additions & 1 deletion franka_control/config/default_controllers.yaml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
position_joint_trajectory_controller:
position_joint_trajectory_controller: &default_trajectory_controller
type: position_controllers/JointTrajectoryController
joints:
- panda_joint1
Expand All @@ -25,6 +25,9 @@ position_joint_trajectory_controller:
panda_joint7:
goal: 0.05

# define default controller for panda_moveit_config:
joint_trajectory_controller: *default_trajectory_controller

franka_state_controller:
type: franka_control/FrankaStateController
publish_rate: 30 # [Hz]
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22 changes: 22 additions & 0 deletions franka_gazebo/config/sim_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,28 @@ franka_state_controller:
- $(arg arm_id)_joint6
- $(arg arm_id)_joint7

effort_joint_trajectory_controller: &default_trajectory_controller
type: effort_controllers/JointTrajectoryController
joints:
- $(arg arm_id)_joint1
- $(arg arm_id)_joint2
- $(arg arm_id)_joint3
- $(arg arm_id)_joint4
- $(arg arm_id)_joint5
- $(arg arm_id)_joint6
- $(arg arm_id)_joint7
gains:
$(arg arm_id)_joint1: { p: 600, d: 30, i: 0 }
$(arg arm_id)_joint2: { p: 600, d: 30, i: 0 }
$(arg arm_id)_joint3: { p: 600, d: 30, i: 0 }
$(arg arm_id)_joint4: { p: 600, d: 30, i: 0 }
$(arg arm_id)_joint5: { p: 250, d: 10, i: 0 }
$(arg arm_id)_joint6: { p: 150, d: 10, i: 0 }
$(arg arm_id)_joint7: { p: 50, d: 5, i: 0 }

# define default controller for panda_moveit_config:
joint_trajectory_controller: *default_trajectory_controller

model_example_controller:
type: franka_example_controllers/ModelExampleController
arm_id: $(arg arm_id)
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