HeeroYui-deprecated/nao_dcm
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Small tweaking of the PIDs..Added Xtion helmet.

Browse Source
This commit is contained in:
Konstantinos Chatzilygeroudis 2014-06-12 13:19:04 +03:00
parent ff9305831a
commit cd5c50599c
6 changed files with 122 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

52
nao_dcm_apps/nao_dcm_gazebo/config/gazebo_ros_control_params.yaml
View File

@ -1,52 +1,52 @@
nao_dcm/gazebo_ros_control/pid_gains: nao_dcm/gazebo_ros_control/pid_gains:
HeadYaw: {p: 1000.0, i: 0.0, d: 0.0} HeadYaw: {p: 500.0, i: 1000.0, d: 0.01}
HeadPitch: {p: 1000.0, i: 0.0, d: 0.0} HeadPitch: {p: 500.0, i: 1000.0, d: 0.01}
LShoulderPitch: {p: 5000.0, i: 0.0, d: 0.0} LShoulderPitch: {p: 500.0, i: 1000.0, d: 0.01}
LElbowYaw: {p: 100.0, i: 0.0, d: 0.0} LElbowYaw: {p: 500.0, i: 1000.0, d: 0.01}
LElbowRoll: {p: 100.0, i: 0.0, d: 0.0} LElbowRoll: {p: 500.0, i: 1000.0, d: 0.01}
LShoulderRoll: {p: 5000.0, i: 0.0, d: 0.0} LShoulderRoll: {p: 500.0, i: 1000.0, d: 0.01}
LWristYaw: {p: 20.0, i: 0.0, d: 0.0} LWristYaw: {p: 500.0, i: 1000.0, d: 0.01}
LHand: {p: 1.0, i: 0.0, d: 0.0} LHand: {p: 500.0, i: 1000.0, d: 0.01}
RShoulderPitch: {p: 5000.0, i: 0.0, d: 0.0} RShoulderPitch: {p: 500.0, i: 1000.0, d: 0.01}
RElbowYaw: {p: 100.0, i: 0.0, d: 0.0} RElbowYaw: {p: 500.0, i: 1000.0, d: 0.01}
RElbowRoll: {p: 100.0, i: 0.0, d: 0.0} RElbowRoll: {p: 500.0, i: 1000.0, d: 0.01}
RShoulderRoll: {p: 5000.0, i: 0.0, d: 0.0} RShoulderRoll: {p: 500.0, i: 1000.0, d: 0.01}
RWristYaw: {p: 20.0, i: 0.0, d: 0.0} RWristYaw: {p: 500.0, i: 1000.0, d: 0.01}
RHand: {p: 1.0, i: 0.0, d: 0.0} RHand: {p: 500.0, i: 1000.0, d: 0.01}
LHipYawPitch: {p: 1000.0, i: 0.0, d: 0.0} LHipYawPitch: {p: 500.0, i: 1000.0, d: 0.01}
LHipRoll: {p: 1000.0, i: 0.0, d: 0.0} LHipRoll: {p: 500.0, i: 1000.0, d: 0.01}
LHipPitch: {p: 1000.0, i: 0.0, d: 0.0} LHipPitch: {p: 500.0, i: 1000.0, d: 0.01}
LKneePitch: {p: 1000.0, i: 0.0, d: 0.0} LKneePitch: {p: 500.0, i: 1000.0, d: 0.01}
LAnklePitch: {p: 1000.0, i: 0.0, d: 0.0} LAnklePitch: {p: 500.0, i: 1000.0, d: 0.01}
LAnkleRoll: {p: 1000.0, i: 0.0, d: 0.0} LAnkleRoll: {p: 500.0, i: 1000.0, d: 0.01}
RHipYawPitch: {p: 1000.0, i: 0.0, d: 0.0} RHipYawPitch: {p: 500.0, i: 1000.0, d: 0.01}
RHipRoll: {p: 1000.0, i: 0.0, d: 0.0} RHipRoll: {p: 500.0, i: 1000.0, d: 0.01}
RHipPitch: {p: 1000.0, i: 0.0, d: 0.0} RHipPitch: {p: 500.0, i: 1000.0, d: 0.01}
RKneePitch: {p: 1000.0, i: 0.0, d: 0.0} RKneePitch: {p: 500.0, i: 1000.0, d: 0.01}
RAnklePitch: {p: 1000.0, i: 0.0, d: 0.0} RAnklePitch: {p: 500.0, i: 1000.0, d: 0.01}
RAnkleRoll: {p: 1000.0, i: 0.0, d: 0.0} RAnkleRoll: {p: 500.0, i: 1000.0, d: 0.01}

61
nao_dcm_common/nao_dcm_description/meshes/helmet_xtion.dae Normal file
View File

File diff suppressed because one or more lines are too long

BIN
nao_dcm_common/nao_dcm_description/meshes/helmet_xtion.stl Normal file
View File

Binary file not shown.

28
nao_dcm_common/nao_dcm_description/urdf/modules/helmet_xtion.xacro Normal file
View File

@ -0,0 +1,28 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- XACRO MACROS FOR VISUALS AND COLLISIONS -->
<xacro:macro name="visuals_collisions_helmet_xtion" params="">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/helmet_xtion.dae"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/helmet_xtion.dae"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:macro>
<joint name="head-helmet-xtion" type="fixed">
<parent link="gaze"/>
<child link="helmet-xtion"/>
<origin xyz="0 0 0.095" rpy="0 0 0"/>
</joint>
<link name="helmet-xtion">
<xacro:visuals_collisions_helmet_xtion/>
</link>
</robot>

8
nao_dcm_common/nao_dcm_description/urdf/modules/robot.xacro
View File

@ -6,8 +6,9 @@
<xacro:property name="PI_2" value="1.57079632679" /> <xacro:property name="PI_2" value="1.57079632679" />
<xacro:property name="scale" value="0.001" /> <xacro:property name="scale" value="0.001" />
<xacro:property name="nao_meshes" value="true" /> <xacro:property name="nao_meshes" value="true" />
<xacro:property name="use_helmet" value="true" /> <xacro:property name="use_helmet" value="false" />
<xacro:property name="helmet_cameras_viz" value="false" /> <xacro:property name="helmet_cameras_viz" value="false" />
<xacro:property name="use_xtion" value="true" />
<xacro:property name="use_odroid" value="true" /> <xacro:property name="use_odroid" value="true" />
<xacro:property name="use_hector_imu" value="false" /> <xacro:property name="use_hector_imu" value="false" />
<xacro:property name="effort_type1" value="0.0161" /> <xacro:property name="effort_type1" value="0.0161" />
@ -47,6 +48,11 @@
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet_cameras.xacro" /> <xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet_cameras.xacro" />
</xacro:if> </xacro:if>
<!-- Whether to use Nao helmet with ASUS Xtion or not -->
<xacro:if value="${use_xtion}">
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet_xtion.xacro" />
</xacro:if>
<!-- Whether to use Odroid or not --> <!-- Whether to use Odroid or not -->
<xacro:if value="${use_odroid}"> <xacro:if value="${use_odroid}">
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/odroid_bag.xacro" /> <xacro:include filename="$(find nao_dcm_description)/urdf/modules/odroid_bag.xacro" />

1
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro
View File

@ -93,7 +93,6 @@
<mimicJoint>RHipYawPitch</mimicJoint> <mimicJoint>RHipYawPitch</mimicJoint>
<multiplier>1.0</multiplier> <multiplier>1.0</multiplier>
<offset>0.0</offset> <offset>0.0</offset>
<sensitiveness>0.1</sensitiveness>
</plugin> </plugin>
<xacro:FingerMimics side="L" num="1"/> <xacro:FingerMimics side="L" num="1"/>