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https://github.com/elephantrobotics/mycobot_ros.git
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84 lines
2.4 KiB
YAML
84 lines
2.4 KiB
YAML
# Simulation settings for using moveit_sim_controllers
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moveit_sim_hw_interface:
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joint_model_group: mycobot_ros
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joint_model_group_pose: HOME
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generic_hw_control_loop:
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loop_hz: 300
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cycle_time_error_threshold: 0.01
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# Settings for ros_control hardware interface
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hardware_interface:
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joints:
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- joint2_to_joint1
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- joint3_to_joint2
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- joint4_to_joint3
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- joint5_to_joint4
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- joint6_to_joint5
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- joint6output_to_joint6
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sim_control_mode: 0 # 0: position, 1: velocity
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# Publish all joint states
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# Creates the /joint_states topic necessary in ROS
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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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# PID controller settings for each joint
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gazebo_ros_control/pid_gains:
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joint2_to_joint1: {p: 100.0, i: 0.01, d: 10.0}
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joint3_to_joint2: {p: 100.0, i: 0.01, d: 10.0}
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joint4_to_joint3: {p: 100.0, i: 0.01, d: 10.0}
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joint5_to_joint4: {p: 100.0, i: 0.01, d: 10.0}
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joint6_to_joint5: {p: 100.0, i: 0.01, d: 10.0}
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joint6output_to_joint6: {p: 100.0, i: 0.01, d: 10.0}
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gripper_controller: {p: 100.0, i: 0.01, d: 10.0}
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arm_controller:
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type: position_controllers/JointTrajectoryController
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joints:
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- joint2_to_joint1
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- joint3_to_joint2
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- joint4_to_joint3
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- joint5_to_joint4
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- joint6_to_joint5
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- joint6output_to_joint6
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controller_list:
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- name: arm_controller
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action_ns: follow_joint_trajectory
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type: FollowJointTrajectory
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default: true
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joints:
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- joint2_to_joint1
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- joint3_to_joint2
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- joint4_to_joint3
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- joint5_to_joint4
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- joint6_to_joint5
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- joint6output_to_joint6
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gripper_controller:
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type: position_controllers/JointTrajectoryController
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joints:
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- gripper_controller
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# 调软 PID：P 不要太大，D 提高一些
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gains:
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gripper_controller:
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p: 20.0 # 降低刚度
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d: 10.0 # 增加阻尼
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i: 0.01
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i_clamp: 0.1
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# 限制抓爪最大速度 & 末点速度
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constraints:
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goal_time: 0.5 # 最多等 0.5s 到达
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stopped_velocity_tolerance: 0.01 # 视为停止的速度阈值
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gripper_controller:
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trajectory: 0.02 # 最大轨迹速度 0.05 rad/s
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goal: 0.01 # 末点速度低于 0.02 rad/s
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controller_list:
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- name: gripper_controller
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action_ns: follow_joint_trajectory
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type: FollowJointTrajectory
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default: true
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joints:
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- gripper_controller
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