From 27151b279ad43fbfe5d69957e6126196fbf5d3b2 Mon Sep 17 00:00:00 2001 From: Captain Yoshi Date: Wed, 29 Jun 2022 16:19:49 -0400 Subject: [PATCH 1/3] Default to 2 space indentation --- ur_robot_driver/config/ur3_controllers.yaml | 242 ++++++++++---------- 1 file changed, 121 insertions(+), 121 deletions(-) diff --git a/ur_robot_driver/config/ur3_controllers.yaml b/ur_robot_driver/config/ur3_controllers.yaml index e65bec898..4fb5d4123 100644 --- a/ur_robot_driver/config/ur3_controllers.yaml +++ b/ur_robot_driver/config/ur3_controllers.yaml @@ -1,142 +1,142 @@ # Settings for ros_control control loop hardware_control_loop: - loop_hz: &loop_hz 125 + loop_hz: &loop_hz 125 # 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + type: velocity_controllers/JointGroupVelocityController + joints: *robot_joints forward_joint_traj_controller: - type: "pass_through_controllers/JointTrajectoryController" - joints: *robot_joints + type: "pass_through_controllers/JointTrajectoryController" + joints: *robot_joints forward_cartesian_traj_controller: - type: "pass_through_controllers/CartesianTrajectoryController" - joints: *robot_joints + type: "pass_through_controllers/CartesianTrajectoryController" + joints: *robot_joints twist_controller: type: "ros_controllers_cartesian/TwistController" @@ -145,22 +145,22 @@ twist_controller: joints: *robot_joints pose_based_cartesian_traj_controller: - type: pose_controllers/CartesianTrajectoryController + type: pose_controllers/CartesianTrajectoryController - # UR driver convention - base: base - tip: tool0_controller - joints: *robot_joints + # UR driver convention + base: base + tip: tool0_controller + joints: *robot_joints joint_based_cartesian_traj_controller: - type: position_controllers/CartesianTrajectoryController + type: position_controllers/CartesianTrajectoryController - # UR driver convention - base: base - tip: tool0 - joints: *robot_joints + # 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 + type: industrial_robot_status_controller/IndustrialRobotStatusController + handle_name: industrial_robot_status_handle + publish_rate: 10 From 970ef06793b05ffb27e700bdb8641a3492212ee3 Mon Sep 17 00:00:00 2001 From: Captain Yoshi Date: Wed, 29 Jun 2022 16:24:07 -0400 Subject: [PATCH 2/3] Remove quotes from config values For consistency with the rest of the config. --- ur_robot_driver/config/ur3_controllers.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ur_robot_driver/config/ur3_controllers.yaml b/ur_robot_driver/config/ur3_controllers.yaml index 4fb5d4123..365384ae3 100644 --- a/ur_robot_driver/config/ur3_controllers.yaml +++ b/ur_robot_driver/config/ur3_controllers.yaml @@ -131,16 +131,16 @@ joint_group_vel_controller: joints: *robot_joints forward_joint_traj_controller: - type: "pass_through_controllers/JointTrajectoryController" + type: pass_through_controllers/JointTrajectoryController joints: *robot_joints forward_cartesian_traj_controller: - type: "pass_through_controllers/CartesianTrajectoryController" + type: pass_through_controllers/CartesianTrajectoryController joints: *robot_joints twist_controller: - type: "ros_controllers_cartesian/TwistController" - frame_id: "tool0_controller" + type: ros_controllers_cartesian/TwistController + frame_id: tool0_controller publish_rate: *loop_hz joints: *robot_joints From fa2c28ae9754c4074bc735026f1a82a1c7e7c6e2 Mon Sep 17 00:00:00 2001 From: Captain Yoshi Date: Wed, 29 Jun 2022 16:27:04 -0400 Subject: [PATCH 3/3] Use anchors and aliases for each joint names --- ur_robot_driver/config/ur3_controllers.yaml | 108 ++++++++++---------- 1 file changed, 54 insertions(+), 54 deletions(-) diff --git a/ur_robot_driver/config/ur3_controllers.yaml b/ur_robot_driver/config/ur3_controllers.yaml index 365384ae3..569b5b66b 100644 --- a/ur_robot_driver/config/ur3_controllers.yaml +++ b/ur_robot_driver/config/ur3_controllers.yaml @@ -5,12 +5,12 @@ hardware_control_loop: # 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 + - &joint1 shoulder_pan_joint + - &joint2 shoulder_lift_joint + - &joint3 elbow_joint + - &joint4 wrist_1_joint + - &joint5 wrist_2_joint + - &joint6 wrist_3_joint # Publish all joint states ---------------------------------- joint_state_controller: @@ -35,12 +35,12 @@ scaled_pos_joint_traj_controller: 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} + *joint1: {trajectory: 0.2, goal: 0.1} + *joint2: {trajectory: 0.2, goal: 0.1} + *joint3: {trajectory: 0.2, goal: 0.1} + *joint4: {trajectory: 0.2, goal: 0.1} + *joint5: {trajectory: 0.2, goal: 0.1} + *joint6: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: *loop_hz action_monitor_rate: 20 @@ -51,12 +51,12 @@ pos_joint_traj_controller: 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} + *joint1: {trajectory: 0.2, goal: 0.1} + *joint2: {trajectory: 0.2, goal: 0.1} + *joint3: {trajectory: 0.2, goal: 0.1} + *joint4: {trajectory: 0.2, goal: 0.1} + *joint5: {trajectory: 0.2, goal: 0.1} + *joint6: {trajectory: 0.2, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: *loop_hz action_monitor_rate: 20 @@ -67,28 +67,28 @@ scaled_vel_joint_traj_controller: 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} + *joint1: {trajectory: 0.1, goal: 0.1} + *joint2: {trajectory: 0.1, goal: 0.1} + *joint3: {trajectory: 0.1, goal: 0.1} + *joint4: {trajectory: 0.1, goal: 0.1} + *joint5: {trajectory: 0.1, goal: 0.1} + *joint6: {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} + *joint1: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + *joint2: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + *joint3: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + *joint4: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + *joint5: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + *joint6: {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 + *joint1: 1.0 + *joint2: 1.0 + *joint3: 1.0 + *joint4: 1.0 + *joint5: 1.0 + *joint6: 1.0 stop_trajectory_duration: 0.5 state_publish_rate: *loop_hz action_monitor_rate: 20 @@ -99,28 +99,28 @@ vel_joint_traj_controller: 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} + *joint1: {trajectory: 0.1, goal: 0.1} + *joint2: {trajectory: 0.1, goal: 0.1} + *joint3: {trajectory: 0.1, goal: 0.1} + *joint4: {trajectory: 0.1, goal: 0.1} + *joint5: {trajectory: 0.1, goal: 0.1} + *joint6: {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} + *joint1: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + *joint2: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + *joint3: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + *joint4: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + *joint5: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + *joint6: {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 + *joint1: 1.0 + *joint2: 1.0 + *joint3: 1.0 + *joint4: 1.0 + *joint5: 1.0 + *joint6: 1.0 stop_trajectory_duration: 0.5 state_publish_rate: *loop_hz action_monitor_rate: 20