add yamls and launch file for demo3 #19
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| cmake_minimum_required(VERSION 3.22.1) | ||
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| # | ||
| # Project definition | ||
| # | ||
| project(agimus_demo_03_mpc_dummy_traj LANGUAGES CXX) | ||
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| # | ||
| # Handle dependencies by reading the package.xml | ||
| # | ||
| find_package(ament_cmake_auto REQUIRED) | ||
| ament_auto_find_build_dependencies() | ||
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| # | ||
| # Unit tests | ||
| # | ||
| include(CTest) | ||
| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_auto_find_test_dependencies() | ||
| # Integration test of the roscontrol controller with simulation on Talos. | ||
| # add_rostest(tests/test_integration.py) | ||
| endif() | ||
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| # | ||
| # Installation | ||
| # | ||
| install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) | ||
| install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) | ||
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| ament_auto_package() | ||
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| controller_manager: | ||
| ros__parameters: | ||
| update_rate: 1000 # Hz | ||
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| linear_feedback_controller: | ||
| type: linear_feedback_controller/LinearFeedbackController | ||
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| joint_state_estimator: | ||
| type: linear_feedback_controller/JointStateEstimator | ||
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| joint_state_broadcaster: | ||
| type: joint_state_broadcaster/JointStateBroadcaster | ||
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| franka_robot_state_broadcaster: | ||
| type: franka_robot_state_broadcaster/FrankaRobotStateBroadcaster |
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| joint_state_estimator: | ||
| ros__parameters: | ||
| type: linear_feedback_controller/JointStateEstimator | ||
| interfaces: [ | ||
| 'fer_joint1/position', | ||
| 'fer_joint2/position', | ||
| 'fer_joint3/position', | ||
| 'fer_joint4/position', | ||
| 'fer_joint5/position', | ||
| 'fer_joint6/position', | ||
| 'fer_joint7/position', | ||
| 'fer_joint1/velocity', | ||
| 'fer_joint2/velocity', | ||
| 'fer_joint3/velocity', | ||
| 'fer_joint4/velocity', | ||
| 'fer_joint5/velocity', | ||
| 'fer_joint6/velocity', | ||
| 'fer_joint7/velocity', | ||
| 'fer_joint1/effort', | ||
| 'fer_joint2/effort', | ||
| 'fer_joint3/effort', | ||
| 'fer_joint4/effort', | ||
| 'fer_joint5/effort', | ||
| 'fer_joint6/effort', | ||
| 'fer_joint7/effort' | ||
| ] | ||
| command_prefix: "linear_feedback_controller" |
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| linear_feedback_controller: | ||
| ros__parameters: | ||
| type: linear_feedback_controller/LinearFeedbackController | ||
| moving_joint_names: [ | ||
| 'fer_joint1', | ||
| 'fer_joint2', | ||
| 'fer_joint3', | ||
| 'fer_joint4', | ||
| 'fer_joint5', | ||
| 'fer_joint6', | ||
| 'fer_joint7' | ||
| ] | ||
| fer_joint1: | ||
| p: 60.0 | ||
| d: 5.0 | ||
| fer_joint2: | ||
| p: 60.0 | ||
| d: 5.0 | ||
| fer_joint3: | ||
| p: 60.0 | ||
| d: 5.0 | ||
| fer_joint4: | ||
| p: 60.0 | ||
| d: 2.0 | ||
| fer_joint5: | ||
| p: 20.0 | ||
| d: 2.0 | ||
| fer_joint6: | ||
| p: 10.0 | ||
| d: 2.0 | ||
| fer_joint7: | ||
| p: 5.0 | ||
| d: 1.0 | ||
| chainable_controller: | ||
| command_prefix: '' | ||
| reference_prefix: '' | ||
| joint_velocity_filter_coefficient: 0.9 | ||
| pd_to_lf_transition_duration: 0.1 | ||
| remove_gravity_compensation_effort: true | ||
| robot_has_free_flyer: false |
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| @@ -0,0 +1,32 @@ | ||
| agimus_controller_node: | ||
| ros__parameters: | ||
| ocp: | ||
| dt: 0.01 | ||
| horizon_size: 20 | ||
| armature: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] | ||
| gripper_weight: 500 | ||
| state_weight: 5 | ||
| control_weight: 0.001 | ||
| max_qp_iter: 100 | ||
| max_iter: 10 | ||
| use_constraints: True | ||
| activate_callback: False | ||
| increasing_weights: | ||
| max: 100.0 | ||
| percent: 0.9 | ||
| time_reach_percent: 6 | ||
| effector_frame_name: "fer_link8" | ||
| moving_joint_names: | ||
| [ | ||
| "fer_joint1", | ||
| "fer_joint2", | ||
| "fer_joint3", | ||
| "fer_joint4", | ||
| "fer_joint5", | ||
| "fer_joint6", | ||
| "fer_joint7", | ||
| ] | ||
| save_predictions_and_refs: True | ||
| rate: 100 | ||
| package_name: "agimus_demo_03_mpc_dummy_traj" | ||
| path_to_yaml: "config/mpc_params.yaml" |
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| repositories: | ||||||||||||||||||
| vcs_repos/linear_feedback_controller_msgs: | ||||||||||||||||||
| type: git | ||||||||||||||||||
| url: https://github.com/loco-3d/linear-feedback-controller-msgs | ||||||||||||||||||
| version: 0.1.3 | ||||||||||||||||||
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| vcs_repos/coal: | ||||||||||||||||||
| type: git | ||||||||||||||||||
| url: https://github.com/coal-library/coal | ||||||||||||||||||
| version: v3.0.0 | ||||||||||||||||||
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| vcs_repos/pinocchio: | ||||||||||||||||||
| type: git | ||||||||||||||||||
| url: https://github.com/stack-of-tasks/pinocchio | ||||||||||||||||||
| version: v3.3.0 | ||||||||||||||||||
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| vcs_repos/colmpc: | ||||||||||||||||||
| type: git | ||||||||||||||||||
| url: https://github.com/agimus-project/colmpc | ||||||||||||||||||
| version: v0.2.0 # TODO: change to new version tag | ||||||||||||||||||
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| vcs_repos/mim_solvers: | ||||||||||||||||||
| type: git | ||||||||||||||||||
| url: https://github.com/machines-in-motion/mim_solvers | ||||||||||||||||||
| version: v0.0.3 | ||||||||||||||||||
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| vcs_repos/franka_ros: | ||||||||||||||||||
| type: git | ||||||||||||||||||
| url: https://github.com/frankaemika/franka_ros | ||||||||||||||||||
| version: develop | ||||||||||||||||||
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Didn't we end up forking There was a problem hiding this comment. |
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| vcs_repos/agimus_controller: | ||||||||||||||||||
| type: git | ||||||||||||||||||
| url: https://github.com/agimus-project/agimus_controller | ||||||||||||||||||
| version: humble-devel | ||||||||||||||||||
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Isn't it simpler? There is not code so there is no need to expect anything related to C++ and testing
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There will be integration tests here so yes we should keep the things + we can use the linting of ROS if we want.
Though I guess with pre-commit it's gonna conflict...