From e19fe8f0f996e812246d80dcb77a33b96fd996bc Mon Sep 17 00:00:00 2001
From: Erdal Pekel <info@erdalpekel.de>
Date: Sat, 29 Feb 2020 20:57:54 +0100
Subject: [PATCH] Migrate to Position based control in Gazebo.
---
.../robots/panda.transmission.xacro | 36 +++++++++----------
1 file changed, 18 insertions(+), 18 deletions(-)
diff --git a/franka_description/robots/panda.transmission.xacro b/franka_description/robots/panda.transmission.xacro
index 9b8d7f1..f293138 100644
--- a/franka_description/robots/panda.transmission.xacro
+++ b/franka_description/robots/panda.transmission.xacro
@@ -13,10 +13,10 @@
<transmission name="${robot_name}_tran_1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint1">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_1">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -24,10 +24,10 @@
<transmission name="${robot_name}_tran_2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint2">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_2">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -35,10 +35,10 @@
<transmission name="${robot_name}_tran_3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint3">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_3">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -46,10 +46,10 @@
<transmission name="${robot_name}_tran_4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint4">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_4">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -57,10 +57,10 @@
<transmission name="${robot_name}_tran_5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint5">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_5">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -68,10 +68,10 @@
<transmission name="${robot_name}_tran_6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint6">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_6">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -79,10 +79,10 @@
<transmission name="${robot_name}_tran_7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint7">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_7">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -91,10 +91,10 @@
<transmission name="${robot_name}_leftfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint1">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint1">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -102,10 +102,10 @@
<transmission name="${robot_name}_rightfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint2">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint2">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
--
GitLab