Small tweaking of the PIDs..Added Xtion helmet.
This commit is contained in:
Konstantinos Chatzilygeroudis
parent
ff9305831a
commit
cd5c50599c
@ -1,52 +1,52 @@
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nao_dcm/gazebo_ros_control/pid_gains:
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HeadYaw: {p: 1000.0, i: 0.0, d: 0.0}
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HeadYaw: {p: 500.0, i: 1000.0, d: 0.01}
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HeadPitch: {p: 1000.0, i: 0.0, d: 0.0}
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HeadPitch: {p: 500.0, i: 1000.0, d: 0.01}
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LShoulderPitch: {p: 5000.0, i: 0.0, d: 0.0}
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LShoulderPitch: {p: 500.0, i: 1000.0, d: 0.01}
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LElbowYaw: {p: 100.0, i: 0.0, d: 0.0}
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LElbowYaw: {p: 500.0, i: 1000.0, d: 0.01}
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LElbowRoll: {p: 100.0, i: 0.0, d: 0.0}
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LElbowRoll: {p: 500.0, i: 1000.0, d: 0.01}
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LShoulderRoll: {p: 5000.0, i: 0.0, d: 0.0}
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LShoulderRoll: {p: 500.0, i: 1000.0, d: 0.01}
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LWristYaw: {p: 20.0, i: 0.0, d: 0.0}
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LWristYaw: {p: 500.0, i: 1000.0, d: 0.01}
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LHand: {p: 1.0, i: 0.0, d: 0.0}
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LHand: {p: 500.0, i: 1000.0, d: 0.01}
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RShoulderPitch: {p: 5000.0, i: 0.0, d: 0.0}
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RShoulderPitch: {p: 500.0, i: 1000.0, d: 0.01}
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RElbowYaw: {p: 100.0, i: 0.0, d: 0.0}
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RElbowYaw: {p: 500.0, i: 1000.0, d: 0.01}
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RElbowRoll: {p: 100.0, i: 0.0, d: 0.0}
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RElbowRoll: {p: 500.0, i: 1000.0, d: 0.01}
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RShoulderRoll: {p: 5000.0, i: 0.0, d: 0.0}
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RShoulderRoll: {p: 500.0, i: 1000.0, d: 0.01}
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RWristYaw: {p: 20.0, i: 0.0, d: 0.0}
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RWristYaw: {p: 500.0, i: 1000.0, d: 0.01}
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RHand: {p: 1.0, i: 0.0, d: 0.0}
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RHand: {p: 500.0, i: 1000.0, d: 0.01}
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LHipYawPitch: {p: 1000.0, i: 0.0, d: 0.0}
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LHipYawPitch: {p: 500.0, i: 1000.0, d: 0.01}
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LHipRoll: {p: 1000.0, i: 0.0, d: 0.0}
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LHipRoll: {p: 500.0, i: 1000.0, d: 0.01}
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LHipPitch: {p: 1000.0, i: 0.0, d: 0.0}
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LHipPitch: {p: 500.0, i: 1000.0, d: 0.01}
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LKneePitch: {p: 1000.0, i: 0.0, d: 0.0}
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LKneePitch: {p: 500.0, i: 1000.0, d: 0.01}
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LAnklePitch: {p: 1000.0, i: 0.0, d: 0.0}
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LAnklePitch: {p: 500.0, i: 1000.0, d: 0.01}
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LAnkleRoll: {p: 1000.0, i: 0.0, d: 0.0}
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LAnkleRoll: {p: 500.0, i: 1000.0, d: 0.01}
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RHipYawPitch: {p: 1000.0, i: 0.0, d: 0.0}
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RHipYawPitch: {p: 500.0, i: 1000.0, d: 0.01}
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RHipRoll: {p: 1000.0, i: 0.0, d: 0.0}
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RHipRoll: {p: 500.0, i: 1000.0, d: 0.01}
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RHipPitch: {p: 1000.0, i: 0.0, d: 0.0}
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RHipPitch: {p: 500.0, i: 1000.0, d: 0.01}
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RKneePitch: {p: 1000.0, i: 0.0, d: 0.0}
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RKneePitch: {p: 500.0, i: 1000.0, d: 0.01}
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RAnklePitch: {p: 1000.0, i: 0.0, d: 0.0}
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RAnklePitch: {p: 500.0, i: 1000.0, d: 0.01}
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RAnkleRoll: {p: 1000.0, i: 0.0, d: 0.0}
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RAnkleRoll: {p: 500.0, i: 1000.0, d: 0.01}
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61
nao_dcm_common/nao_dcm_description/meshes/helmet_xtion.dae
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61
nao_dcm_common/nao_dcm_description/meshes/helmet_xtion.dae
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File diff suppressed because one or more lines are too long
BIN
nao_dcm_common/nao_dcm_description/meshes/helmet_xtion.stl
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BIN
nao_dcm_common/nao_dcm_description/meshes/helmet_xtion.stl
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Binary file not shown.
@ -0,0 +1,28 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- XACRO MACROS FOR VISUALS AND COLLISIONS -->
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<xacro:macro name="visuals_collisions_helmet_xtion" params="">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://nao_dcm_description/meshes/helmet_xtion.dae"/>
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</geometry>
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<material name="LightGrey"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://nao_dcm_description/meshes/helmet_xtion.dae"/>
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</geometry>
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<material name="LightGrey"/>
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</collision>
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</xacro:macro>
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<joint name="head-helmet-xtion" type="fixed">
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<parent link="gaze"/>
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<child link="helmet-xtion"/>
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<origin xyz="0 0 0.095" rpy="0 0 0"/>
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</joint>
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<link name="helmet-xtion">
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<xacro:visuals_collisions_helmet_xtion/>
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</link>
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</robot>
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@ -6,8 +6,9 @@
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<xacro:property name="PI_2" value="1.57079632679" />
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<xacro:property name="scale" value="0.001" />
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<xacro:property name="nao_meshes" value="true" />
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<xacro:property name="use_helmet" value="true" />
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<xacro:property name="use_helmet" value="false" />
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<xacro:property name="helmet_cameras_viz" value="false" />
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<xacro:property name="use_xtion" value="true" />
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<xacro:property name="use_odroid" value="true" />
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<xacro:property name="use_hector_imu" value="false" />
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<xacro:property name="effort_type1" value="0.0161" />
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@ -47,6 +48,11 @@
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<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet_cameras.xacro" />
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</xacro:if>
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<!-- Whether to use Nao helmet with ASUS Xtion or not -->
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<xacro:if value="${use_xtion}">
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<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet_xtion.xacro" />
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</xacro:if>
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<!-- Whether to use Odroid or not -->
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<xacro:if value="${use_odroid}">
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<xacro:include filename="$(find nao_dcm_description)/urdf/modules/odroid_bag.xacro" />
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@ -93,7 +93,6 @@
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<mimicJoint>RHipYawPitch</mimicJoint>
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<multiplier>1.0</multiplier>
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<offset>0.0</offset>
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<sensitiveness>0.1</sensitiveness>
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</plugin>
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<xacro:FingerMimics side="L" num="1"/>
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