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Commit 041d3eb3 authored by Florian Walch's avatar Florian Walch
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Update changelog, minor fixes

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......@@ -4,8 +4,15 @@
Requires `libfranka` >= 0.6.0
* Fixed joint velocity and acceleration limits for MoveIt
* Fixed limits in `franka_hw`
* **BREAKING** Updated joint limits in URDF
* **BREAKING** Fixed velocity, acceleration and jerk limits in `franka_hw`
* Allow to configure rate limiting, filtering and internal controller in `franka_control_node`
* **BREAKING** Enabled limiting and low-pass filtering by default (`franka_control_node.yaml`)
* Publish desired joint state in `/joint_state_desired`
* Removed `effort_joint_trajectory_controller` from `default_controllers.yaml`
* **BREAKING** Fixes for MoveIt:
* Fixed joint velocity and acceleration limits in `joint_limits.yaml`
* Use desired joint state for move group
## 0.5.0 - 2018-06-28
......
......@@ -25,41 +25,6 @@ position_joint_trajectory_controller:
panda_joint7:
goal: 0.05
effort_joint_trajectory_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
constraints:
goal_time: 0.5
panda_joint1:
goal: 0.05
panda_joint2:
goal: 0.05
panda_joint3:
goal: 0.05
panda_joint4:
goal: 0.05
panda_joint5:
goal: 0.05
panda_joint6:
goal: 0.05
panda_joint7:
goal: 0.05
gains:
panda_joint1: {p: 100, d: 10, i: 0, i_clamp: 1}
panda_joint2: {p: 100, d: 10, i: 0, i_clamp: 1}
panda_joint3: {p: 100, d: 10, i: 0, i_clamp: 1}
panda_joint4: {p: 100, d: 10, i: 0, i_clamp: 1}
panda_joint5: {p: 100, d: 10, i: 0, i_clamp: 1}
panda_joint6: {p: 100, d: 10, i: 0, i_clamp: 1}
panda_joint7: {p: 100, d: 10, i: 0, i_clamp: 1}
franka_state_controller:
type: franka_control/FrankaStateController
publish_rate: 30 # [Hz]
......
......@@ -5,7 +5,6 @@
<include file="$(find franka_control)/launch/franka_control.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="load_gripper" value="false" />
<arg name="publish_desired_values" value="true" />
</include>
<include file="$(find panda_moveit_config)/launch/panda_moveit.launch">
<arg name="load_gripper" value="false" />
......
......@@ -29,7 +29,7 @@ FrankaHW::FrankaHW(const std::array<std::string, 7>& joint_names,
pose_cartesian_command_(
{1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0}),
velocity_cartesian_command_({0.0, 0.0, 0.0, 0.0, 0.0, 0.0}) {
for (size_t i = 0; i < joint_names_.size(); ++i) {
for (size_t i = 0; i < joint_names_.size(); i++) {
hardware_interface::JointStateHandle joint_handle_q_d(
joint_names_[i], &robot_state_.q_d[i], &robot_state_.dq_d[i], &robot_state_.tau_J[i]);
......@@ -59,8 +59,8 @@ FrankaHW::FrankaHW(const std::array<std::string, 7>& joint_names,
joint_limits_interface::SoftJointLimits soft_limits;
joint_limits_interface::JointLimits joint_limits;
for (auto joint_name : joint_names_) {
int joint_index(std::stoi(joint_name.substr(joint_name.size() - 1)) - 1);
for (size_t i = 0; i < joint_names_.size(); i++) {
const std::string& joint_name = joint_names_[i];
auto urdf_joint = urdf_model.getJoint(joint_name);
if (!urdf_joint) {
ROS_ERROR_STREAM("FrankaHW: Could not get joint " << joint_name << " from urdf");
......@@ -74,9 +74,9 @@ FrankaHW::FrankaHW(const std::array<std::string, 7>& joint_names,
if (joint_limits_interface::getSoftJointLimits(urdf_joint, soft_limits)) {
if (joint_limits_interface::getJointLimits(urdf_joint, joint_limits)) {
joint_limits.max_acceleration = franka::kMaxJointAcceleration[joint_index];
joint_limits.max_acceleration = franka::kMaxJointAcceleration[i];
joint_limits.has_acceleration_limits = true;
joint_limits.max_jerk = franka::kMaxJointJerk[joint_index];
joint_limits.max_jerk = franka::kMaxJointJerk[i];
joint_limits.has_jerk_limits = true;
joint_limits_interface::PositionJointSoftLimitsHandle position_limit_handle(
position_joint_interface_.getHandle(joint_name), joint_limits, soft_limits);
......
......@@ -6,7 +6,6 @@
<include file="$(find franka_control)/launch/franka_control.launch" >
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="load_gripper" value="$(arg load_gripper)" />
<arg name="publish_desired_values" value="true" />
</include>
<include if="$(arg load_gripper)" file="$(find franka_gripper)/launch/franka_gripper.launch" >
......
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