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Added end-effector to feet

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-06-26 21:05:17 +03:00
parent 10ce33c06c
commit 293dc95539
8 changed files with 59 additions and 14 deletions
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14
nao_dcm_apps/nao_dcm_moveit_config/config/controllers_H21.yaml
View File

@ -32,8 +32,6 @@ controller_list:
- LHipRoll
- LHipPitch
- LKneePitch
- LAnklePitch
- LAnkleRoll
- name: nao_dcm/RightLeg_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
@ -42,6 +40,18 @@ controller_list:
- RHipRoll
- RHipPitch
- RKneePitch
- name: nao_dcm/LeftFoot_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- LAnklePitch
- LAnkleRoll
- name: nao_dcm/RightFoot_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- RAnklePitch
- RAnkleRoll
- name: nao_dcm/Head_controller

14
nao_dcm_apps/nao_dcm_moveit_config/config/controllers_H25.yaml
View File

@ -46,8 +46,6 @@ controller_list:
- LHipRoll
- LHipPitch
- LKneePitch
- LAnklePitch
- LAnkleRoll
- name: nao_dcm/RightLeg_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
@ -56,6 +54,18 @@ controller_list:
- RHipRoll
- RHipPitch
- RKneePitch
- name: nao_dcm/LeftFoot_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- LAnklePitch
- LAnkleRoll
- name: nao_dcm/RightFoot_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- RAnklePitch
- RAnkleRoll
- name: nao_dcm/Head_controller

11
nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
View File

@ -29,13 +29,17 @@
<joint name="LHipRoll" />
<joint name="LHipPitch" />
<joint name="LKneePitch" />
<joint name="LAnklePitch" />
<joint name="LAnkleRoll" />
</group>
<group name="RightLeg">
<joint name="RHipRoll" />
<joint name="RHipPitch" />
<joint name="RKneePitch" />
</group>
<group name="LeftFoot">
<joint name="LAnkleRoll" />
<joint name="LAnklePitch" />
</group>
<group name="RightFoot">
<joint name="RAnklePitch" />
<joint name="RAnkleRoll" />
</group>
@ -65,6 +69,9 @@
<joint name="RAnklePitch" />
<joint name="RAnkleRoll" />
</group>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="right_foot_eef" parent_link="RKnee" group="RightFoot" parent_group="RightLeg" />
<end_effector name="left_foot_eef" parent_link="LKnee" group="LeftFoot" parent_group="LeftLeg" />
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="floating" parent_frame="odom" child_link="base_link" />
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->

10
nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf
View File

@ -29,13 +29,17 @@
<joint name="LHipRoll" />
<joint name="LHipPitch" />
<joint name="LKneePitch" />
<joint name="LAnklePitch" />
<joint name="LAnkleRoll" />
</group>
<group name="RightLeg">
<joint name="RHipRoll" />
<joint name="RHipPitch" />
<joint name="RKneePitch" />
</group>
<group name="LeftFoot">
<joint name="LAnkleRoll" />
<joint name="LAnklePitch" />
</group>
<group name="RightFoot">
<joint name="RAnklePitch" />
<joint name="RAnkleRoll" />
</group>
@ -96,6 +100,8 @@
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="right_eef" parent_link="RElbowDummy" group="RightHand" parent_group="RightArm" />
<end_effector name="left_eef" parent_link="LElbowDummy" group="LeftHand" parent_group="LeftArm" />
<end_effector name="right_foot_eef" parent_link="RKnee" group="RightFoot" parent_group="RightLeg" />
<end_effector name="left_foot_eef" parent_link="LKnee" group="LeftFoot" parent_group="LeftLeg" />
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="floating" parent_frame="odom" child_link="base_link" />
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->

10
nao_dcm_common/nao_dcm_control/config/nao_trajectory_control.yaml
View File

@ -44,14 +44,20 @@ nao_dcm:
- LHipRoll
- LHipPitch
- LKneePitch
- LAnklePitch
- LAnkleRoll
RightLeg_controller:
type: position_controllers/JointTrajectoryController
joints:
- RHipRoll
- RHipPitch
- RKneePitch
LeftFoot_controller:
type: position_controllers/JointTrajectoryController
joints:
- LAnklePitch
- LAnkleRoll
RightFoot_controller:
type: position_controllers/JointTrajectoryController
joints:
- RAnklePitch
- RAnkleRoll
Head_controller:

10
nao_dcm_common/nao_dcm_control/config/nao_trajectory_control_H21.yaml
View File

@ -34,14 +34,20 @@ nao_dcm:
- LHipRoll
- LHipPitch
- LKneePitch
- LAnklePitch
- LAnkleRoll
RightLeg_controller:
type: position_controllers/JointTrajectoryController
joints:
- RHipRoll
- RHipPitch
- RKneePitch
LeftFoot_controller:
type: position_controllers/JointTrajectoryController
joints:
- LAnklePitch
- LAnkleRoll
RightFoot_controller:
type: position_controllers/JointTrajectoryController
joints:
- RAnklePitch
- RAnkleRoll
Head_controller:

2
nao_dcm_common/nao_dcm_control/launch/nao_dcm_trajectory_control_H21.launch
View File

@ -6,7 +6,7 @@
<!-- load the controllers -->
<node name="nao_trajectory_controller" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/nao_dcm" args="/nao_dcm/RightArm_controller /nao_dcm/LeftArm_controller /nao_dcm/Head_controller /nao_dcm/Pelvis_controller /nao_dcm/LeftLeg_controller /nao_dcm/RightLeg_controller /nao_dcm/joint_state_controller"/>
output="screen" ns="/nao_dcm" args="/nao_dcm/RightArm_controller /nao_dcm/LeftArm_controller /nao_dcm/Head_controller /nao_dcm/Pelvis_controller /nao_dcm/LeftLeg_controller /nao_dcm/RightLeg_controller /nao_dcm/LeftFoot_controller /nao_dcm/RightFoot_controller /nao_dcm/joint_state_controller"/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"

2
nao_dcm_common/nao_dcm_control/launch/nao_dcm_trajectory_control_H25.launch
View File

@ -6,7 +6,7 @@
<!-- load the controllers -->
<node name="nao_trajectory_controller" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/nao_dcm" args="/nao_dcm/RightArm_controller /nao_dcm/RightHand_controller /nao_dcm/LeftArm_controller /nao_dcm/LeftHand_controller /nao_dcm/Head_controller /nao_dcm/Pelvis_controller /nao_dcm/LeftLeg_controller /nao_dcm/RightLeg_controller /nao_dcm/joint_state_controller"/>
output="screen" ns="/nao_dcm" args="/nao_dcm/RightArm_controller /nao_dcm/RightHand_controller /nao_dcm/LeftArm_controller /nao_dcm/LeftHand_controller /nao_dcm/Head_controller /nao_dcm/Pelvis_controller /nao_dcm/LeftLeg_controller /nao_dcm/RightLeg_controller /nao_dcm/LeftFoot_controller /nao_dcm/RightFoot_controller /nao_dcm/joint_state_controller"/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"