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Merge pull request #13 from jsaltducaju/master
Adds unit tests
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| # An example configuration that works with the example | ||
| # | ||
| # It is also used in the integration tests | ||
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| CartesianImpedance_trajectory_controller: | ||
| type: cartesian_impedance_controller/CartesianImpedanceController | ||
| joints: # Joints to control | ||
| - joint1 | ||
| - joint2 | ||
| - joint3 | ||
| - joint4 | ||
| - joint5 | ||
| - joint6 | ||
| - joint7 | ||
| end_effector: tool0 # Link to control arm in | ||
| update_frequency: 500 # Controller update frequency in Hz | ||
| dynamic_reconfigure: true # Starts dynamic reconfigure server | ||
| handle_trajectories: true # Accept traj., e.g. from MoveIt | ||
| robot_description: /robot_description # In case of a varying name | ||
| wrench_ee_frame: tool0 # Default frame for wrench commands | ||
| delta_tau_max: 1.0 # Max. commanded torque diff between steps in Nm | ||
| filtering: # Update existing values (0.0 1.0] per s | ||
| nullspace_config: 0.1 # Nullspace configuration filtering | ||
| pose: 0.1 # Reference pose filtering | ||
| stiffness: 0.1 # Cartesian and nullspace stiffness | ||
| wrench: 0.1 # Commanded torque | ||
| verbosity: | ||
| verbose_print: false # Enables additional prints | ||
| state_msgs: true # Messages of controller state | ||
| tf_frames: true # Extra tf frames | ||
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| joint_state_controller: | ||
| type: joint_state_controller/JointStateController | ||
| publish_rate: 500 | ||
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| # Settings for ros_control hardware interface | ||
| hardware_interface: | ||
| control_freq: 500 # in Hz | ||
| joints: | ||
| - joint1 | ||
| - joint2 | ||
| - joint3 | ||
| - joint4 | ||
| - joint5 | ||
| - joint6 | ||
| - joint7 |
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| <launch> | ||
| <!-- Configuration --> | ||
| <arg name="gazebo_gui" default="true"/> | ||
| <arg name="gzclient" default="true"/> | ||
| <arg name="debug" default="false"/> | ||
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| <!-- Load robot_description to parameter server --> | ||
| <param name="/robot_description" | ||
| command="$(find xacro)/xacro '$(find cartesian_impedance_controller)/res/urdf/robot.urdf.xacro'" /> | ||
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| <!-- Robot state publisher --> | ||
| <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"> | ||
| <param name="publish_frequency" type="double" value="50.0" /> | ||
| <param name="tf_prefix" type="string" value="" /> | ||
| </node> | ||
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| <!-- Joint state publisher --> | ||
| <node name="joint_state_controller_spawner" pkg="controller_manager" type="spawner" args="joint_state_controller" respawn="false" output="screen"/> | ||
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| <!-- Load controller configuration --> | ||
| <rosparam file="$(find cartesian_impedance_controller)/res/config/example_controller.yaml" command="load"></rosparam> | ||
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| <!-- Spawn controllers --> | ||
| <node name="controller_spawner" pkg="controller_manager" type="spawner" | ||
| args="CartesianImpedance_trajectory_controller" | ||
| /> | ||
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| <!-- Loads the Gazebo world --> | ||
| <include if="$(arg gzclient)" | ||
| file="$(find gazebo_ros)/launch/empty_world.launch"> | ||
| <arg name="debug" value="$(arg debug)" /> | ||
| <arg name="gui" value="$(arg gazebo_gui)" /> | ||
| <arg name="paused" value="false"/> | ||
| <arg name="use_sim_time" value="true"/> | ||
| <arg name="headless" value="false"/> | ||
| </include> | ||
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| <!-- Run a python script to send a service call to gazebo_ros to spawn a URDF robot --> | ||
| <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" | ||
| args="-urdf -model robot -param robot_description"/> | ||
| </launch> |
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| <?xml version="1.0"?> | ||
| <robot name="robot" xmlns:xacro="http://ros.org/wiki/xacro"> | ||
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| <!-- Properties for materials --> | ||
| <material name="blue"> | ||
| <color rgba="0 0 0.8 1"/> | ||
| </material> | ||
| <material name="orange"> | ||
| <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/> | ||
| </material> | ||
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| <!-- Connect to world --> | ||
| <link name="world" /> | ||
| <joint name="world_joint" type="fixed"> | ||
| <parent link="world" /> | ||
| <child link = "base_link" /> | ||
| <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> | ||
| </joint> | ||
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| <!-- Base link --> | ||
| <link name="base_link"> | ||
| <visual> | ||
| <geometry> | ||
| <cylinder length="0.1" radius="0.05"/> | ||
| </geometry> | ||
| <material name="blue"/> | ||
| </visual> | ||
| <inertial> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <mass value="1"/> | ||
| <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/> | ||
| </inertial> | ||
| </link> | ||
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| <!-- Joint and link definitions --> | ||
| <xacro:macro name="rotational_joint" params="prefix parent child xyz rpy length x y z r p yo"> | ||
| <joint name="${prefix}" type="revolute"> | ||
| <origin xyz="${xyz}" rpy="${rpy}"/> | ||
| <parent link="${parent}"/> | ||
| <child link="${child}"/> | ||
| <axis xyz="0 0 1"/> | ||
| <limit lower="-2.967" upper="2.967" effort="300" velocity="2.5"/> | ||
| </joint> | ||
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| <link name="${child}"> | ||
| <visual name="joint"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <geometry> | ||
| <sphere radius="0.05"/> | ||
| </geometry> | ||
| <material name="orange"/> | ||
| </visual> | ||
| <visual name="link"> | ||
| <origin xyz="${x} ${y} ${z}" rpy="${r} ${p} ${yo}" /> | ||
| <geometry> | ||
| <cylinder length="${length}" radius="0.03"/> | ||
| </geometry> | ||
| <material name="blue"/> | ||
| </visual> | ||
| <inertial> | ||
| <!-- Generic inertial properties, adjust for accuracy --> | ||
| <origin xyz="${x} ${y} ${z}" rpy="${r} ${p} ${yo}" /> | ||
| <mass value="1"/> | ||
| <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/> | ||
| </inertial> | ||
| </link> | ||
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| <!-- Transmission --> | ||
| <transmission name="${prefix}_transmission"> | ||
| <type>transmission_interface/SimpleTransmission</type> | ||
| <joint name="${prefix}"> | ||
| <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> | ||
| </joint> | ||
| <actuator name="${prefix}_motor"> | ||
| <mechanicalReduction>1</mechanicalReduction> | ||
| </actuator> | ||
| </transmission> | ||
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| <!-- Gazebo configuration for the joint --> | ||
| <gazebo reference="${prefix}"> | ||
| <dynamics damping="0.01" friction="0.02"/> | ||
| </gazebo> | ||
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| <gazebo reference="${child}"> | ||
| <turnGravityOff>true</turnGravityOff> | ||
| </gazebo> | ||
| </xacro:macro> | ||
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| <!-- Chain of joints and links --> | ||
| <xacro:rotational_joint prefix="joint1" parent="base_link" child="link1" xyz="0 0 0.35" rpy="0 0 0" length="0.333" x="0" y="0" z="-0.175" r="0" p="0" yo="0"/> | ||
| <xacro:rotational_joint prefix="joint2" parent="link1" child="link2" xyz="0 0 0" rpy="0 -1.5708 0" length="0.3" x="0" y="0.15" z="0" r="-1.5708" p="0" yo="0"/> | ||
| <xacro:rotational_joint prefix="joint3" parent="link2" child="link3" xyz="0 0.3 0" rpy="0 1.5708 0" length="0.0" x="0" y="0" z="0" r="-1.5708" p="0" yo="0"/> | ||
| <xacro:rotational_joint prefix="joint4" parent="link3" child="link4" xyz="0 0 0" rpy="0 1.5708 0" length="0.4" x="0" y="0" z="0.2" r="0" p="0" yo="0"/> | ||
| <xacro:rotational_joint prefix="joint5" parent="link4" child="link5" xyz="0 0 0.4" rpy="0 -1.5708 0" length="0" x="0" y="0" z="0" r="0" p="1.5708" yo="0"/> | ||
| <xacro:rotational_joint prefix="joint6" parent="link5" child="link6" xyz="0 0 0" rpy="0 1.5708 0" length="0.1" x="0.05" y="0" z="0" r="0" p="1.5708" yo="0"/> | ||
| <xacro:rotational_joint prefix="joint7" parent="link6" child="link7" xyz="0.1 0 0" rpy="0 1.5708 0" length="0.107" x="0" y="0" z="0.05035" r="0" p="0" yo="0"/> | ||
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| <!-- Joint connecting the last link and the end-effector --> | ||
| <joint name="tool0_joint" type="fixed"> | ||
| <parent link="link7"/> | ||
| <child link="tool0"/> | ||
| <origin xyz="0 0 0.107" rpy="0 0 0"/> | ||
| </joint> | ||
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| <!-- End-effector link --> | ||
| <link name="tool0"> | ||
| <visual> | ||
| <geometry> | ||
| <sphere radius="0.05"/> | ||
| </geometry> | ||
| <material name="blue"/> | ||
| </visual> | ||
| </link> | ||
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| <!-- Gazebo ROS Control plugin --> | ||
| <gazebo> | ||
| <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" /> | ||
| </gazebo> | ||
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| </robot> | ||
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