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Enable samplerobot sample in kinetic #246

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Enable samplerobot sample in kinetic #246

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3bcc726
fix pgain of samplebot
Naoki-Hiraoka Dec 11, 2019
1907ef9
Merge branch 'master' into enable-samplebot-sample
k-okada Dec 11, 2019
76d16ea
[samplerobot] ST runs without error
Naoki-Hiraoka Apr 9, 2020
c9bb06c
fix fsensor bug
Naoki-Hiraoka Apr 9, 2020
42f1c1c
fix bug of imu sensor in SampleRobot
Naoki-Hiraoka Apr 9, 2020
ccf2d6a
samplebot parameter tune
Naoki-Hiraoka Apr 10, 2020
9e79d6e
remove unused file
Naoki-Hiraoka Apr 10, 2020
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6 changes: 0 additions & 6 deletions hrpsys_gazebo_general/config/SampleRobot.conf
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62 changes: 32 additions & 30 deletions hrpsys_gazebo_general/config/SampleRobot.yaml
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hrpsys_gazebo_configuration:
## velocity feedback for joint control, use parameter gains/joint_name/p_v
use_velocity_feedback: true
use_velocity_feedback: false
iob_rate: 500
## synchronized hrpsys and gazebo
# use_synchronized_command: false
# name of robot (using for namespace)
Expand Down Expand Up @@ -70,35 +71,35 @@ hrpsys_gazebo_configuration:
# 28 - CHEST
## joint gain settings
gains:
LLEG_HIP_R: {p: 12000.0, d: 4.0, i: 0.0, vp: 6.0, i_clamp: 0.0, p_v: 250.0}
LLEG_HIP_P: {p: 24000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
LLEG_HIP_Y: {p: 4000.0, d: 4.0, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0}
LLEG_KNEE: {p: 36000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
LLEG_ANKLE_P: {p: 18000.0, d: 3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
LLEG_ANKLE_R: {p: 6000.0, d: 2.0, i: 0.0, vp: 4.0, i_clamp: 0.0, p_v: 250.0}
RLEG_HIP_R: {p: 12000.0, d: 4.0, i: 0.0, vp: 6.0, i_clamp: 0.0, p_v: 250.0}
RLEG_HIP_P: {p: 24000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
RLEG_HIP_Y: {p: 4000.0, d: 4.0, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0}
RLEG_KNEE: {p: 36000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
RLEG_ANKLE_P: {p: 18000.0, d: 3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
RLEG_ANKLE_R: {p: 6000.0, d: 2.0, i: 0.0, vp: 4.0, i_clamp: 0.0, p_v: 250.0}
WAIST_P: {p: 8000.0, d: 4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
WAIST_R: {p: 8000.0, d: 4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
CHEST: {p: 6000.0, d: 2.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
LARM_SHOULDER_P: {p: 1200.0, d: 1.0, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0}
LARM_SHOULDER_R: {p: 500.0, d: 0.5, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 120.0}
LARM_SHOULDER_Y: {p: 200.0, d: 0.3, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
LARM_ELBOW: {p: 1000.0, d: 1.4, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0}
LARM_WRIST_Y: {p: 200.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
LARM_WRIST_P: {p: 300.0, d: 0.2, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
LARM_WRIST_R: {p: 20.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
RARM_SHOULDER_P: {p: 1200.0, d: 1.0, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0}
RARM_SHOULDER_R: {p: 500.0, d: 0.5, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 120.0}
RARM_SHOULDER_Y: {p: 200.0, d: 0.3, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
RARM_ELBOW: {p: 1000.0, d: 1.4, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0}
RARM_WRIST_Y: {p: 200.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
RARM_WRIST_P: {p: 300.0, d: 0.2, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
RARM_WRIST_R: {p: 20.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
LLEG_HIP_R: {p: 6000.0, d: 0.1, i: 0.0, vp: 6.0, i_clamp: 0.0, p_v: 250.0}
LLEG_HIP_P: {p: 6000.0, d: 0.15, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
LLEG_HIP_Y: {p: 2000.0, d: 0.1, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0}
LLEG_KNEE: {p: 9000.0, d: 0.15, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0}
LLEG_ANKLE_P: {p: 4500.0, d: 0.075, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
LLEG_ANKLE_R: {p: 3000.0, d: 0.05, i: 0.0, vp: 4.0, i_clamp: 0.0, p_v: 250.0}
RLEG_HIP_R: {p: 6000.0, d: 0.1, i: 0.0, vp: 6.0, i_clamp: 0.0, p_v: 250.0}
RLEG_HIP_P: {p: 6000.0, d: 0.05, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
RLEG_HIP_Y: {p: 2000.0, d: 0.1, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0}
RLEG_KNEE: {p: 9000.0, d: 0.15, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0}
RLEG_ANKLE_P: {p: 4500.0, d: 0.075, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
RLEG_ANKLE_R: {p: 3000.0, d: 0.05, i: 0.0, vp: 4.0, i_clamp: 0.0, p_v: 250.0}
WAIST_P: {p: 8000.0, d: 0.1, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
WAIST_R: {p: 8000.0, d: 0.1, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
CHEST: {p: 6000.0, d: 0.05, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
LARM_SHOULDER_P: {p: 1200.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0}
LARM_SHOULDER_R: {p: 500.0, d: 0.05, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 120.0}
LARM_SHOULDER_Y: {p: 200.0, d: 0.03, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
LARM_ELBOW: {p: 1000.0, d: 0.14, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0}
LARM_WRIST_Y: {p: 200.0, d: 0.01, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
LARM_WRIST_P: {p: 300.0, d: 0.02, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
LARM_WRIST_R: {p: 20.0, d: 0.01, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
RARM_SHOULDER_P: {p: 1200.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0}
RARM_SHOULDER_R: {p: 500.0, d: 0.05, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 120.0}
RARM_SHOULDER_Y: {p: 200.0, d: 0.03, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
RARM_ELBOW: {p: 1000.0, d: 0.14, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0}
RARM_WRIST_Y: {p: 200.0, d: 0.01, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
RARM_WRIST_P: {p: 300.0, d: 0.02, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
RARM_WRIST_R: {p: 20.0, d: 0.01, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0}
## force sensor settings
## list of force sensorname
force_torque_sensors:
Expand All @@ -116,6 +117,7 @@ hrpsys_gazebo_configuration:
## IMU sensor settings
## configuration of IMU sensor
## key of imu_sensors_config should be a member of imu_sensors
## pose of IMU sensor should be written in URDF
imu_sensors:
- imu_sensor0
imu_sensors_config:
Expand Down
2 changes: 1 addition & 1 deletion hrpsys_gazebo_general/launch/robot_hrpsys_bringup.launch
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Expand Up @@ -20,7 +20,7 @@
<!-- hrpsys_gazebo settings -->
<arg name="SYNCHRONIZED" default="false" />
<arg name="IOB_SUBSTEPS" default="5" />
<arg name="HRPSYS_RATE" default="200" />
<arg name="HRPSYS_RATE" default="500" />

<env if="$(arg SYNCHRONIZED)"
name="HRPSYS_GAZEBO_IOB_SYNCHRONIZED" value="1" />
Expand Down
5 changes: 3 additions & 2 deletions hrpsys_gazebo_general/launch/samplerobot_hrpsys_bringup.launch
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@@ -1,6 +1,7 @@
<launch>
<arg name="KINEMATICS_MODE" default="false"/>
<arg name="SYNCHRONIZED" default="false" />
<arg name="USE_UNSTABLE_RTC" default="true"/>

<rosparam command="load"
file="$(find hrpsys_ros_bridge)/models/SampleRobot_controller_config.yaml" />
Expand All @@ -21,8 +22,8 @@
<arg name="ROBOT_TYPE" value="SampleRobot" />
<arg name="USE_INSTANCE_NAME" value="true" />
<arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
<arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
<arg name="CONF_FILE" default="$(find hrpsys_gazebo_general)/config/SampleRobot.conf" />
<arg name="HRPSYS_PY_PKG" value="hrpsys_ros_bridge" if="$(arg USE_UNSTABLE_RTC)"/>
<arg name="HRPSYS_PY_NAME" value="samplerobot_hrpsys_config.py" if="$(arg USE_UNSTABLE_RTC)"/>
<arg name="KINEMATICS_MODE" value="$(arg KINEMATICS_MODE)"/>
<arg name="BASE_LINK" value="WAIST_LINK0" />
</include>
Expand Down
1 change: 1 addition & 0 deletions hrpsys_gazebo_general/robot_models/SampleRobot/SampleRobot.urdf.xacro
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Expand Up @@ -29,6 +29,7 @@
</accel>
</noise>
</imu>
<pose>0 0 0 1.5708 0 3.14159</pose>
</sensor>
</gazebo>
<!-- add force sensor -->
Expand Down
4 changes: 4 additions & 0 deletions hrpsys_gazebo_general/robot_models/SampleRobot/SampleRobot_additional_urdf_setting.sh
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Expand Up @@ -15,3 +15,7 @@ sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
sed -i -e 's@effort="100"@effort="200"@g' ${OUTPUT_FILE}
## change max velocity
sed -i -e 's@velocity="0.5"@velocity="6.0"@g' ${OUTPUT_FILE}
## change friction
sed -i -e 's@friction="0"@friction="1"@g' ${OUTPUT_FILE}
## change damping
sed -i -e 's@damping="0.2"@damping="1"@g' ${OUTPUT_FILE}
2 changes: 1 addition & 1 deletion hrpsys_gazebo_general/src/IOBPlugin.cpp
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Expand Up @@ -240,8 +240,8 @@ void IOBPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) {
qt.z = xmlrpc_value_as_double(rot[3]);
}
fsi.pose = PosePtr(new math::Pose (vtr, qt));
this->forceSensors[sensor_name] = fsi;
}
this->forceSensors[sensor_name] = fsi;
}
} else {
ROS_ERROR("Force-Torque sensor: %s has invalid configuration", sensor_name.c_str());
Expand Down