canopen config for raw3-3 base

ipa320 · Apr 26, 2017 · 326da15 · 326da15
1 parent 095ae98
commit 326da15
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Showing 5 changed files with 41 additions and 54 deletions.
diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml
@@ -24,6 +24,10 @@
 
 		<!-- start hardware -->
 		<group unless="$(arg sim)">
+			<include file="$(find cob_bringup)/tools/pc_monitor.launch">
+				<arg name="robot" value="$(arg robot)"/>
+				<arg name="pc" value="$(arg pc1)"/>
+			</include>
 			<include file="$(find cob_bringup)/drivers/phidgets.launch">
 				<arg name="robot" value="$(arg robot)"/>
 			</include>
@@ -46,8 +50,9 @@
 			<arg name="name" value="base_laser_rear"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/legacy_base.launch">
-			<arg name="robot" value="$(arg robot)"/>
+		<include file="$(find cob_bringup)/components/raw3_base.launch" >
+			<arg name="robot" value="$(arg robot)" />
+			<arg name="can_device" value="can0" />
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<!--include file="$(find cob_bringup)/components/canopen_generic.launch">

diff --git a/cob_hardware_config/robots/common/raw3_base_controller.yaml b/cob_hardware_config/robots/common/raw3_base_controller.yaml
@@ -29,16 +29,16 @@ twist_controller:
   wheels: &wheels
     - steer: fl_caster_rotation_joint
       drive: fl_caster_r_wheel_joint
-      steer_neutral_position: -180.0
+      steer_neutral_position: 180.0
     - steer: bl_caster_rotation_joint
       drive: bl_caster_r_wheel_joint
-      steer_neutral_position: -180.0
+      steer_neutral_position: 180.0
     - steer: br_caster_rotation_joint
       drive: br_caster_r_wheel_joint
-      steer_neutral_position: -180.0
+      steer_neutral_position: 180.0
     - steer: fr_caster_rotation_joint
       drive: fr_caster_r_wheel_joint
-      steer_neutral_position: 0.0
+      steer_neutral_position: 180.0
 
 
 ## odometry_controller

diff --git a/cob_hardware_config/robots/raw3-3/config/base_controller.yaml b/cob_hardware_config/robots/raw3-3/config/base_controller.yaml
diff --git a/cob_hardware_config/robots/raw3-3/config/base_driver.yaml b/cob_hardware_config/robots/raw3-3/config/base_driver.yaml
@@ -0,0 +1,28 @@
+nodes:
+  ##Wheel 1
+  fl_caster_rotation_joint:
+    motor_layer:
+      homing_event: 19 # -> digin
+      homing_speed: -5093 # -1.0 rs/s
+      homing_offset: -12700
+
+  ##Wheel 2
+  bl_caster_rotation_joint:
+    motor_layer:
+      homing_event: 19 # -> digin
+      homing_speed: -5093 # -1.0 rs/s
+      homing_offset: -12673
+
+  ##Wheel 3
+  br_caster_rotation_joint:
+    motor_layer:
+      homing_event: 17 # -> digin
+      homing_speed: -5093 # -1.0 rs/s
+      homing_offset: 14093
+
+  ##Wheel 4
+  fr_caster_rotation_joint:
+    motor_layer:
+      homing_event: 19 # -> digin
+      homing_speed: -5093 # -1.0 rs/s
+      homing_offset: 13972
diff --git a/cob_hardware_config/robots/raw3-3/config/diagnostics_analyzers.yaml b/cob_hardware_config/robots/raw3-3/config/diagnostics_analyzers.yaml
@@ -41,8 +41,8 @@ analyzers:
         analyzers:
           base:
             type: diagnostic_aggregator/GenericAnalyzer
-            path: drives
-            startswith: '/base'
+            path: Base
+            contains: 'base/'
           base_twist_mux:
             type: diagnostic_aggregator/GenericAnalyzer
             path: twist_mux