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Commit ed06fb56 authored by Erdal Pekel's avatar Erdal Pekel
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LICENSE 0 → 100644
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Copyright 2019 Erdal Pekel
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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README.md 0 → 100644
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# panda_simulation
config/panda_control.yaml 0 → 100644
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# Publish joint states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
panda_arm_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
gains:
panda_joint1: { p: 12000, d: 50, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 30000, d: 100, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 18000, d: 50, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 18000, d: 70, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 12000, d: 70, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 7000, d: 50, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 2000, d: 20, i: 0.0, i_clamp: 1 }
constraints:
goal_time: 2.0
state_publish_rate: 25
panda_hand_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_finger_joint1
- panda_finger_joint2
gains:
panda_finger_joint1: { p: 5, d: 3.0, i: 0, i_clamp: 1 }
panda_finger_joint2: { p: 5, d: 1.0, i: 0, i_clamp: 1 }
state_publish_rate: 25
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launch/simulation.launch 0 → 100644
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<launch>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm_hand.urdf.xacro"/>
<!-- GAZEBO arguments -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="load_gripper" default="true"/>
<!--launch GAZEBO with own world configuration -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<!-- <arg name="world_name" value="$(find robotics_assisted_tomography)/worlds/tomography.world"/> -->
<arg name="debug" value="$(arg debug)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda"/>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find panda_simulation)/config/panda_control.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller panda_hand_controller panda_arm_controller" />
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<include file="$(find panda_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<include file="$(find panda_moveit_config)/launch/move_group.launch" />
<include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
<node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
</launch>
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package.xml 0 → 100644
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<?xml version="1.0"?>
<package format="2">
<name>panda_simulation</name>
<version>0.0.0</version>
<description>The panda_simulation package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="erdal@todo.todo">erdal</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/panda_simulation</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>controller_manager</build_depend>
<build_depend>effort_controllers</build_depend>
<build_depend>gazebo_ros</build_depend>
<build_depend>joint_state_controller</build_depend>
<build_depend>joint_state_publisher</build_depend>
<build_depend>joint_trajectory_controller</build_depend>
<build_depend>robot_state_publisher</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>xacro</build_depend>
<build_export_depend>controller_manager</build_export_depend>
<build_export_depend>effort_controllers</build_export_depend>
<build_export_depend>gazebo_ros</build_export_depend>
<build_export_depend>joint_state_controller</build_export_depend>
<build_export_depend>joint_state_publisher</build_export_depend>
<build_export_depend>joint_trajectory_controller</build_export_depend>
<build_export_depend>robot_state_publisher</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>tf</build_export_depend>
<build_export_depend>xacro</build_export_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>effort_controllers</exec_depend>
<exec_depend>gazebo_ros</exec_depend>
<exec_depend>joint_state_controller</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>tf</exec_depend>
<exec_depend>xacro</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
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