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add kuka control file
This commit is contained in:
Brian Delhaisse
@@ -0,0 +1,187 @@
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#iiwa:
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# Publish all joint states -----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50
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# Controllers for singular joint ------------------------------------
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#
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# Effort Position Controllers ---------------------------------------
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# VALUES ARE NOT CORRECT !
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EffortJointInterface_J1_controller:
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type: effort_controllers/JointPositionController
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joint: iiwa_joint_1
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pid: {p: 800.0, i: 100, d: 80.0, i_clamp_min: -10000, i_clamp_max: 10000}
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EffortJointInterface_J2_controller:
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type: effort_controllers/JointPositionController
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joint: iiwa_joint_2
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pid: {p: 800.0, i: 1000, d: 100.0, i_clamp_min: -10000, i_clamp_max: 10000}
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EffortJointInterface_J3_controller:
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type: effort_controllers/JointPositionController
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joint: iiwa_joint_3
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pid: {p: 800.0, i: 10, d: 5.0, i_clamp_min: -10000, i_clamp_max: 10000}
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EffortJointInterface_J4_controller:
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type: effort_controllers/JointPositionController
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joint: iiwa_joint_4
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pid: {p: 800.0, i: 10, d: 80.0, i_clamp_min: -10000, i_clamp_max: 10000}
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EffortJointInterface_J5_controller:
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type: effort_controllers/JointPositionController
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joint: iiwa_joint_5
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pid: {p: 300.0, i: 5, d: 10.0, i_clamp_min: -10000, i_clamp_max: 10000}
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EffortJointInterface_J6_controller:
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type: effort_controllers/JointPositionController
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joint: iiwa_joint_6
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pid: {p: 50.0, i: 1, d: 1.0, i_clamp_min: -10000, i_clamp_max: 10000}
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EffortJointInterface_J7_controller:
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type: effort_controllers/JointPositionController
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joint: iiwa_joint_7
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pid: {p: 10.0, i: 0.1, d: 1.0, i_clamp_min: -10000, i_clamp_max: 10000}
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# Forward Position Controllers ---------------------------------------
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PositionJointInterface_J1_controller:
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type: position_controllers/JointPositionController
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joint: iiwa_joint_1
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PositionJointInterface_J2_controller:
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type: position_controllers/JointPositionController
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joint: iiwa_joint_2
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PositionJointInterface_J3_controller:
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type: position_controllers/JointPositionController
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joint: iiwa_joint_3
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PositionJointInterface_J4_controller:
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type: position_controllers/JointPositionController
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joint: iiwa_joint_4
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PositionJointInterface_J5_controller:
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type: position_controllers/JointPositionController
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joint: iiwa_joint_5
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PositionJointInterface_J6_controller:
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type: position_controllers/JointPositionController
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joint: iiwa_joint_6
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PositionJointInterface_J7_controller:
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type: position_controllers/JointPositionController
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joint: iiwa_joint_7
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# Forward Velocity Controllers ---------------------------------------
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VelocityJointInterface_J1_controller:
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type: velocity_controllers/JointVelocityController
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joint: iiwa_joint_1
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VelocityJointInterface_J2_controller:
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type: velocity_controllers/JointVelocityController
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joint: iiwa_joint_2
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VelocityJointInterface_J3_controller:
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type: velocity_controllers/JointVelocityController
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joint: iiwa_joint_3
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VelocityJointInterface_J4_controller:
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type: velocity_controllers/JointVelocityController
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joint: iiwa_joint_4
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VelocityJointInterface_J5_controller:
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type: velocity_controllers/JointVelocityController
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joint: iiwa_joint_5
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VelocityJointInterface_J6_controller:
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type: velocity_controllers/JointVelocityController
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joint: iiwa_joint_6
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VelocityJointInterface_J7_controller:
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type: velocity_controllers/JointVelocityController
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joint: iiwa_joint_7
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# Trajectory Controllers ---------------------------------------
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#
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# Effort Position Controllers ---------------------------------------
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EffortJointInterface_trajectory_controller:
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type: effort_controllers/JointTrajectoryController
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joints:
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- iiwa_joint_1
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- iiwa_joint_2
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- iiwa_joint_3
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- iiwa_joint_4
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- iiwa_joint_5
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- iiwa_joint_6
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- iiwa_joint_7
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# VALUES ARE NOT CORRECT !
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gains:
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iiwa_joint_1: {p: 500, d: 30, i: 15, i_clamp: 30}
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iiwa_joint_2: {p: 200, d: 10, i: 10, i_clamp: 30}
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iiwa_joint_3: {p: 65, d: 10, i: 15, i_clamp: 30}
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iiwa_joint_4: {p: 31, d: 7, i: 12, i_clamp: 30}
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iiwa_joint_5: {p: 23, d: 3, i: 5, i_clamp: 30}
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iiwa_joint_6: {p: 13, d: 3, i: 3, i_clamp: 30}
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iiwa_joint_7: {p: 17, d: 2, i: 2.5, i_clamp: 10}
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constraints:
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goal_time: 0.5 # Override default
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state_publish_rate: 25 # Override default
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action_monitor_rate: 30 # Override default
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stop_trajectory_duration: 0 # Override default
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# Forward Position Controllers ---------------------------------------
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PositionJointInterface_trajectory_controller:
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type: position_controllers/JointTrajectoryController
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joints:
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- iiwa_joint_1
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- iiwa_joint_2
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- iiwa_joint_3
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- iiwa_joint_4
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- iiwa_joint_5
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- iiwa_joint_6
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- iiwa_joint_7
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constraints:
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goal_time: 0.5 # Override default
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state_publish_rate: 25 # Override default
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action_monitor_rate: 30 # Override default
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stop_trajectory_duration: 0 # Override default
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# Forward Velocity Controllers ---------------------------------------
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VelocityJointInterface_trajectory_controller:
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type: velocity_controllers/JointTrajectoryController
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joints:
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- iiwa_joint_1
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- iiwa_joint_2
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- iiwa_joint_3
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- iiwa_joint_4
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- iiwa_joint_5
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- iiwa_joint_6
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- iiwa_joint_7
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# VALUES ARE NOT CORRECT !
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gains:
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iiwa_joint_1: {p: 500, d: 30, i: 15, i_clamp: 30}
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iiwa_joint_2: {p: 200, d: 10, i: 10, i_clamp: 30}
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iiwa_joint_3: {p: 65, d: 10, i: 15, i_clamp: 30}
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iiwa_joint_4: {p: 31, d: 7, i: 12, i_clamp: 30}
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iiwa_joint_5: {p: 23, d: 3, i: 5, i_clamp: 30}
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iiwa_joint_6: {p: 13, d: 3, i: 3, i_clamp: 30}
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iiwa_joint_7: {p: 17, d: 2, i: 2.5, i_clamp: 10}
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constraints:
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goal_time: 0.5 # Override default
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state_publish_rate: 25 # Override default
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action_monitor_rate: 30 # Override default
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stop_trajectory_duration: 0 # Override default
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