urdf/ros2_control: add control gain config (#38)
To make gain configurable.
This commit is contained in:
Daijiro Fukuda
GitHub
parent
c5a1e337c2
commit
73ca62f3e4
41
config/arm/v10/control_gains.yaml
Normal file
41
config/arm/v10/control_gains.yaml
Normal file
@ -0,0 +1,41 @@
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# Copyright 2026 Enactic, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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joint1:
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kp: 70.0
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kd: 2.75
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joint2:
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kp: 70.0
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kd: 2.5
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joint3:
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kp: 70.0
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kd: 2.0
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joint4:
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kp: 60.0
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kd: 2.0
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joint5:
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kp: 10.0
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kd: 0.7
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joint6:
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kp: 10.0
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kd: 0.6
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joint7:
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kp: 10.0
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kd: 0.5
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@ -3,6 +3,7 @@
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<xacro:macro name="openarm_robot"
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params="arm_type
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joint_limits
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control_gains
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kinematics
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kinematics_link
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kinematics_offset
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@ -102,6 +103,7 @@
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<xacro:if value="${ros2_control}">
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<xacro:openarm_bimanual_ros2_control
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arm_type="${arm_type}"
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control_gains="${control_gains}"
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left_can_interface="${left_can_interface}"
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right_can_interface="${right_can_interface}"
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use_fake_hardware="${use_fake_hardware}"
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@ -160,6 +162,7 @@
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<xacro:openarm_arm_ros2_control
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arm_type="${arm_type}"
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control_gains="${control_gains}"
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arm_prefix="${arm_prefix_modified}"
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can_interface="${can_interface}"
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use_fake_hardware="${use_fake_hardware}"
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@ -52,7 +52,8 @@
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<xacro:openarm_robot
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arm_type="v10"
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body_type="v10"
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joint_limits="${xacro.load_yaml('$(find openarm_description)/config//arm/v10/joint_limits.yaml')}"
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joint_limits="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/joint_limits.yaml')}"
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control_gains="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/control_gains.yaml')}"
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inertials="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/inertials.yaml')}"
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kinematics="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/kinematics.yaml')}"
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kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/kinematics_link.yaml')}"
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@ -3,6 +3,7 @@
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<xacro:macro name="openarm_bimanual_ros2_control"
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params="arm_type
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control_gains
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left_can_interface:=^|can1
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right_can_interface:=^|can0
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use_fake_hardware:=^|false
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@ -27,6 +28,20 @@
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<param name="arm_prefix">${left_arm_prefix}</param>
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<param name="hand">${hand}</param>
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<param name="can_fd">${can_fd}</param>
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<param name="kp1">${control_gains['joint1']['kp']}</param>
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<param name="kp2">${control_gains['joint2']['kp']}</param>
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<param name="kp3">${control_gains['joint3']['kp']}</param>
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<param name="kp4">${control_gains['joint4']['kp']}</param>
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<param name="kp5">${control_gains['joint5']['kp']}</param>
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<param name="kp6">${control_gains['joint6']['kp']}</param>
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<param name="kp7">${control_gains['joint7']['kp']}</param>
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<param name="kd1">${control_gains['joint1']['kd']}</param>
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<param name="kd2">${control_gains['joint2']['kd']}</param>
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<param name="kd3">${control_gains['joint3']['kd']}</param>
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<param name="kd4">${control_gains['joint4']['kd']}</param>
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<param name="kd5">${control_gains['joint5']['kd']}</param>
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<param name="kd6">${control_gains['joint6']['kd']}</param>
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<param name="kd7">${control_gains['joint7']['kd']}</param>
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</xacro:unless>
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</hardware>
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@ -78,6 +93,20 @@
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<param name="arm_prefix">${right_arm_prefix}</param>
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<param name="hand">${hand}</param>
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<param name="can_fd">${can_fd}</param>
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<param name="kp1">${control_gains['joint1']['kp']}</param>
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<param name="kp2">${control_gains['joint2']['kp']}</param>
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<param name="kp3">${control_gains['joint3']['kp']}</param>
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<param name="kp4">${control_gains['joint4']['kp']}</param>
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<param name="kp5">${control_gains['joint5']['kp']}</param>
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<param name="kp6">${control_gains['joint6']['kp']}</param>
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<param name="kp7">${control_gains['joint7']['kp']}</param>
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<param name="kd1">${control_gains['joint1']['kd']}</param>
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<param name="kd2">${control_gains['joint2']['kd']}</param>
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<param name="kd3">${control_gains['joint3']['kd']}</param>
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<param name="kd4">${control_gains['joint4']['kd']}</param>
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<param name="kd5">${control_gains['joint5']['kd']}</param>
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<param name="kd6">${control_gains['joint6']['kd']}</param>
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<param name="kd7">${control_gains['joint7']['kd']}</param>
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</xacro:unless>
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</hardware>
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@ -3,6 +3,7 @@
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<xacro:macro name="openarm_arm_ros2_control"
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params="arm_type
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control_gains
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can_interface
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use_fake_hardware:=^|false
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fake_sensor_commands:=^|false
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@ -27,6 +28,20 @@
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<param name="arm_prefix">${arm_prefix}</param>
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<param name="hand">${hand}</param>
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<param name="can_fd">${can_fd}</param>
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<param name="kp1">${control_gains['joint1']['kp']}</param>
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<param name="kp2">${control_gains['joint2']['kp']}</param>
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<param name="kp3">${control_gains['joint3']['kp']}</param>
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<param name="kp4">${control_gains['joint4']['kp']}</param>
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<param name="kp5">${control_gains['joint5']['kp']}</param>
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<param name="kp6">${control_gains['joint6']['kp']}</param>
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<param name="kp7">${control_gains['joint7']['kp']}</param>
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<param name="kd1">${control_gains['joint1']['kd']}</param>
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<param name="kd2">${control_gains['joint2']['kd']}</param>
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<param name="kd3">${control_gains['joint3']['kd']}</param>
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<param name="kd4">${control_gains['joint4']['kd']}</param>
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<param name="kd5">${control_gains['joint5']['kd']}</param>
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<param name="kd6">${control_gains['joint6']['kd']}</param>
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<param name="kd7">${control_gains['joint7']['kd']}</param>
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</xacro:if>
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</hardware>
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