From 06bbb73dcbb1141784d1fd728a84822d3d888aa4 Mon Sep 17 00:00:00 2001 From: ipa-nhg Date: Thu, 17 Sep 2015 12:30:29 +0200 Subject: [PATCH 1/4] new teleop node --- cob_bringup/robots/cob3-2.xml | 1 - cob_bringup/robots/cob3-6.xml | 1 - cob_bringup/robots/cob3-9.xml | 1 - cob_bringup/robots/cob4-2.xml | 1 - cob_bringup/robots/cob4-4.xml | 1 - cob_bringup/robots/cob4-6.xml | 1 - cob_bringup/robots/raw3-1.xml | 1 - cob_bringup/robots/raw3-2.xml | 1 - cob_bringup/robots/raw3-3.xml | 1 - cob_bringup/robots/raw3-4.xml | 1 - cob_bringup/robots/raw3-5.xml | 1 - cob_bringup/robots/raw3-6.xml | 1 - cob_bringup/tools/teleop.launch | 7 +- cob_bringup/tools/teleop_v1.xml | 19 ---- cob_bringup/tools/teleop_v2.xml | 25 ----- cob_hardware_config/cob3-2/config/teleop.yaml | 77 ++++++++------- cob_hardware_config/cob3-6/config/teleop.yaml | 77 ++++++++------- cob_hardware_config/cob3-9/config/teleop.yaml | 73 ++++++++------ cob_hardware_config/cob4-1/config/teleop.yaml | 95 +++++++++++++++++-- cob_hardware_config/cob4-2/config/teleop.yaml | 95 +++++++++++++++++-- cob_hardware_config/cob4-4/config/teleop.yaml | 27 ++++-- cob_hardware_config/cob4-6/config/teleop.yaml | 27 ++++-- cob_hardware_config/raw3-1/config/teleop.yaml | 49 ++++------ cob_hardware_config/raw3-2/config/teleop.yaml | 60 ++++-------- cob_hardware_config/raw3-3/config/teleop.yaml | 51 +++++----- cob_hardware_config/raw3-4/config/teleop.yaml | 60 ++++-------- cob_hardware_config/raw3-5/config/teleop.yaml | 40 ++++---- cob_hardware_config/raw3-6/config/teleop.yaml | 40 ++++---- 28 files changed, 471 insertions(+), 363 deletions(-) delete mode 100644 cob_bringup/tools/teleop_v1.xml delete mode 100644 cob_bringup/tools/teleop_v2.xml diff --git a/cob_bringup/robots/cob3-2.xml b/cob_bringup/robots/cob3-2.xml index 8754d82a1..adbfffe1b 100644 --- a/cob_bringup/robots/cob3-2.xml +++ b/cob_bringup/robots/cob3-2.xml @@ -107,7 +107,6 @@ - diff --git a/cob_bringup/robots/cob3-6.xml b/cob_bringup/robots/cob3-6.xml index 2b5a1c587..c1d4c32f0 100644 --- a/cob_bringup/robots/cob3-6.xml +++ b/cob_bringup/robots/cob3-6.xml @@ -98,7 +98,6 @@ - diff --git a/cob_bringup/robots/cob3-9.xml b/cob_bringup/robots/cob3-9.xml index 014668159..b9f4f9a6c 100644 --- a/cob_bringup/robots/cob3-9.xml +++ b/cob_bringup/robots/cob3-9.xml @@ -103,7 +103,6 @@ - diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml index 32bbe1169..1fc766c74 100644 --- a/cob_bringup/robots/cob4-2.xml +++ b/cob_bringup/robots/cob4-2.xml @@ -63,7 +63,6 @@ - diff --git a/cob_bringup/robots/raw3-2.xml b/cob_bringup/robots/raw3-2.xml index 9d907cf44..a8fcdeee3 100644 --- a/cob_bringup/robots/raw3-2.xml +++ b/cob_bringup/robots/raw3-2.xml @@ -51,7 +51,6 @@ - diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml index 9e6612400..189244b6d 100644 --- a/cob_bringup/robots/raw3-3.xml +++ b/cob_bringup/robots/raw3-3.xml @@ -59,7 +59,6 @@ - diff --git a/cob_bringup/robots/raw3-4.xml b/cob_bringup/robots/raw3-4.xml index 58f8ec6de..10bced809 100644 --- a/cob_bringup/robots/raw3-4.xml +++ b/cob_bringup/robots/raw3-4.xml @@ -61,7 +61,6 @@ - diff --git a/cob_bringup/robots/raw3-5.xml b/cob_bringup/robots/raw3-5.xml index 2172c6f4a..c0ce2704a 100644 --- a/cob_bringup/robots/raw3-5.xml +++ b/cob_bringup/robots/raw3-5.xml @@ -47,7 +47,6 @@ - diff --git a/cob_bringup/robots/raw3-6.xml b/cob_bringup/robots/raw3-6.xml index 1b6d32364..8aad37cf9 100644 --- a/cob_bringup/robots/raw3-6.xml +++ b/cob_bringup/robots/raw3-6.xml @@ -53,7 +53,6 @@ - diff --git a/cob_bringup/tools/teleop.launch b/cob_bringup/tools/teleop.launch index fdef61d40..d1932fe0b 100644 --- a/cob_bringup/tools/teleop.launch +++ b/cob_bringup/tools/teleop.launch @@ -3,12 +3,15 @@ - - + + + + + diff --git a/cob_bringup/tools/teleop_v1.xml b/cob_bringup/tools/teleop_v1.xml deleted file mode 100644 index 325bba8f4..000000000 --- a/cob_bringup/tools/teleop_v1.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/cob_bringup/tools/teleop_v2.xml b/cob_bringup/tools/teleop_v2.xml deleted file mode 100644 index 6efce8995..000000000 --- a/cob_bringup/tools/teleop_v2.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_hardware_config/cob3-2/config/teleop.yaml b/cob_hardware_config/cob3-2/config/teleop.yaml index cb6c31126..44cbcb46e 100644 --- a/cob_hardware_config/cob3-2/config/teleop.yaml +++ b/cob_hardware_config/cob3-2/config/teleop.yaml @@ -1,49 +1,62 @@ +#cob3-2 +########## # common params run_factor: 2.0 +joy_num_buttons: 12 +joy_num_axes: 6 +joy_num_modes: 4 +mode_switch_button: 8 +light_topic_name: /light + +# axes +axis_vx: 1 +axis_vy: 0 +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 # buttons -lower_neck_button: 6 -upper_neck_button: 4 -tray_button: 3 -arm_joint12_button: 0 -arm_joint34_button: 1 -arm_joint56_button: 2 -arm_joint7_button: 3 -base_safety_button: 4 deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base run_button: 7 -# axes -axis_vx: 1 -axis_vy: 0 -axis_vth: 2 -up_down: 5 #tray--up/down; tilt--front/back, here we just name up_down -left_right: 4 #pan--left/right +#mode2: Trajectory controller +torso_sss_default_target_button: 1 +head_sss_default_target_button: 3 +arm_sss_default_target_button: 2 + +#mode3: Velocity group controller +arm_joint1_button: 0 +arm_joint2_button: 1 +arm_joint3_button: 2 +arm_joint4_button: 3 -# component configuration -modules: { +up_down_button: 5 +right_left_button: 4 + +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] - }, - tray: { - joint_names: ['tray_joint'], - joint_step: [0.1] + twist_topic_name: '/base_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] }, torso: { - joint_names: ['torso_lower_neck_pan_joint','torso_lower_neck_tilt_joint','torso_upper_neck_pan_joint','torso_upper_neck_tilt_joint'], - joint_step: [0.05,0.05,0.075,0.075] + sss_default_target: "home", + velocity_topic_name: "/torso/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05,0.05,0.05] }, head: { - joint_names: ['head_axis_joint'], - joint_step: [0.0] + sss_default_target: "front", + velocity_topic_name: "/head/joint_group_velocity_controller/command", + joint_velocity: [0.05] }, arm: { - joint_names: ['arm_1_joint','arm_2_joint','arm_3_joint','arm_4_joint','arm_5_joint','arm_6_joint','arm_7_joint'], - joint_step: [0.1,0.1,0.1,0.1,0.1,0.1,0.1] - }, - gripper: { - joint_names: ['sdh_finger_11_joint', 'sdh_finger_12_joint', 'sdh_finger_13_joint', 'sdh_finger_21_joint', 'sdh_finger_22_joint', 'sdh_finger_23_joint', 'sdh_thumb_2_joint', 'sdh_thumb_3_joint'], - joint_step: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0] + sss_default_target: "home", + velocity_topic_name: "/arm/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05] } } diff --git a/cob_hardware_config/cob3-6/config/teleop.yaml b/cob_hardware_config/cob3-6/config/teleop.yaml index 8990b58f0..117d81cb9 100644 --- a/cob_hardware_config/cob3-6/config/teleop.yaml +++ b/cob_hardware_config/cob3-6/config/teleop.yaml @@ -1,49 +1,62 @@ +#cob3-6 +########## # common params run_factor: 2.0 +joy_num_buttons: 12 +joy_num_axes: 6 +joy_num_modes: 4 +mode_switch_button: 8 +light_topic_name: /light + +# axes +axis_vx: 1 +axis_vy: 0 +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 # buttons -lower_neck_button: 6 -upper_neck_button: 4 -tray_button: 3 -arm_joint12_button: 0 -arm_joint34_button: 1 -arm_joint56_button: 2 -arm_joint7_button: 3 -base_safety_button: 4 deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base run_button: 7 -# axes -axis_vx: 1 -axis_vy: 0 -axis_vth: 2 -up_down: 5 #tray--up/down; tilt--front/back, here we just name up_down -left_right: 4 #pan--left/right +#mode2: Trajectory controller +torso_sss_default_target_button: 1 +head_sss_default_target_button: 3 +arm_sss_default_target_button: 2 + +#mode3: Velocity group controller +arm_joint1_button: 0 +arm_joint2_button: 1 +arm_joint3_button: 2 +arm_joint4_button: 3 -# component configuration -modules: { +up_down_button: 5 +right_left_button: 4 + +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] - }, - tray: { - joint_names: ['tray_joint'], - joint_step: [0.1] + twist_topic_name: '/base_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] }, torso: { - joint_names: ['torso_lower_neck_tilt_joint','torso_pan_joint','torso_upper_neck_tilt_joint'], - joint_step: [0.05,0.075,0.075] + sss_default_target: "home", + velocity_topic_name: "/torso/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05,0.05] }, head: { - joint_names: ['head_axis_joint'], - joint_step: [0.0] + sss_default_target: "front", + velocity_topic_name: "/head/joint_group_velocity_controller/command", + joint_velocity: [0.05] }, arm: { - joint_names: ['arm_1_joint','arm_2_joint','arm_3_joint','arm_4_joint','arm_5_joint','arm_6_joint','arm_7_joint'], - joint_step: [0.1,0.1,0.1,0.1,0.1,0.1,0.1] - }, - gripper: { - joint_names: ['sdh_finger_11_joint', 'sdh_finger_12_joint', 'sdh_finger_13_joint', 'sdh_finger_21_joint', 'sdh_finger_22_joint', 'sdh_finger_23_joint', 'sdh_thumb_2_joint', 'sdh_thumb_3_joint'], - joint_step: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0] + sss_default_target: "home", + velocity_topic_name: "/arm/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05] } } diff --git a/cob_hardware_config/cob3-9/config/teleop.yaml b/cob_hardware_config/cob3-9/config/teleop.yaml index 1b9728a35..4fada4c55 100644 --- a/cob_hardware_config/cob3-9/config/teleop.yaml +++ b/cob_hardware_config/cob3-9/config/teleop.yaml @@ -1,45 +1,62 @@ +#cob3-9 +########## # common params run_factor: 2.0 +joy_num_buttons: 12 +joy_num_axes: 6 +joy_num_modes: 4 +mode_switch_button: 8 +light_topic_name: /light + +# axes +axis_vx: 1 +axis_vy: 0 +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 # buttons -lower_neck_button: 6 -upper_neck_button: 4 -tray_button: 3 -arm_joint12_button: 0 -arm_joint34_button: 1 -arm_joint56_button: 2 -arm_joint7_button: 3 -base_safety_button: 4 deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base run_button: 7 -# axes -axis_vx: 1 -axis_vy: 0 -axis_vth: 2 -up_down: 5 #tray--up/down; tilt--front/back, here we just name up_down -left_right: 4 #pan--left/right +#mode2: Trajectory controller +torso_sss_default_target_button: 1 +head_sss_default_target_button: 3 +arm_sss_default_target_button: 2 + +#mode3: Velocity group controller +arm_joint1_button: 0 +arm_joint2_button: 1 +arm_joint3_button: 2 +arm_joint4_button: 3 -# component configuration -modules: { +up_down_button: 5 +right_left_button: 4 + +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] - }, - tray: { - joint_names: ['tray_joint'], - joint_step: [0.1] + twist_topic_name: '/base_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] }, torso: { - joint_names: ['torso_lower_neck_tilt_joint','torso_pan_joint','torso_upper_neck_tilt_joint'], - joint_step: [0.05,0.075,0.075] + sss_default_target: "home", + velocity_topic_name: "/torso/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05,0.05] }, head: { - joint_names: ['head_axis_joint'], - joint_step: [0.0] + sss_default_target: "front", + velocity_topic_name: "/head/joint_group_velocity_controller/command", + joint_velocity: [0.05] }, arm: { - joint_names: ['arm_1_joint','arm_2_joint','arm_3_joint','arm_4_joint','arm_5_joint','arm_6_joint','arm_7_joint'], - joint_step: [0.1,0.1,0.1,0.1,0.1,0.1,0.1] + sss_default_target: "home", + velocity_topic_name: "/arm/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05] } } diff --git a/cob_hardware_config/cob4-1/config/teleop.yaml b/cob_hardware_config/cob4-1/config/teleop.yaml index d7f696708..79767dcfc 100644 --- a/cob_hardware_config/cob4-1/config/teleop.yaml +++ b/cob_hardware_config/cob4-1/config/teleop.yaml @@ -1,20 +1,97 @@ +#cob4-1 +########## # common params run_factor: 2.0 +joy_num_buttons: 12 +joy_num_axes: 6 +joy_num_modes: 4 +mode_switch_button: 8 +light_topic_name: /light_torso/light + +# axes +axis_vx: 1 +axis_vy: 0 +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 # buttons deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base run_button: 7 -base_safety_button: 4 -# axes -axis_vx: 1 -axis_vy: 0 -axis_vth: 2 +#mode2: Trajectory controller +torso_sss_default_target_button: 1 +sensorring_sss_default_target_button: 3 +head_sss_default_target_button: 3 +arm_right_sss_default_target_button: 2 +arm_left_sss_default_target_button: 0 + +#mode3: Velocity group controller +torso_joint1_button: 0 +sensorring_joint1_button: 1 +head_joint1_button: 2 +arm_right_joint1_button: 0 +arm_right_joint2_button: 1 +arm_right_joint3_button: 2 +arm_right_joint4_button: 3 +arm_left_joint1_button: 0 +arm_left_joint2_button: 1 +arm_left_joint3_button: 2 +arm_left_joint4_button: 3 + +right_indicator_button: 7 +left_indicator_button: 6 +up_down_button: 5 +right_left_button: 4 + +#mode4: Twist controller +torso_twist_button: 1 +head_twist_button: 3 +arm_right_twist_button: 2 +arm_left_twist_button: 0 -# component configuration -modules: { +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] + twist_topic_name: '/base_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] + }, + torso: { + sss_default_target: "home", + velocity_topic_name: "/torso/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05], + twist_topic_name: '/torso/twist_controller/command_twist', + twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] + }, + head: { + sss_default_target: "front", + velocity_topic_name: "/head/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05], + twist_topic_name: '/head/twist_controller/command_twist', + twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] + }, + sensorring: { + sss_default_target: "front", + velocity_topic_name: "/sensorring/joint_group_velocity_controller/command", + joint_velocity: [0.05] + }, + arm_left: { + sss_default_target: "home", + velocity_topic_name: "/arm_left/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05], + twist_topic_name: '/arm_left/twist_controller/command_twist', + twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] + }, + arm_right: { + sss_default_target: "home", + velocity_topic_name: "/arm_right/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05], + twist_topic_name: '/arm_right/twist_controller/command_twist', + twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] } } diff --git a/cob_hardware_config/cob4-2/config/teleop.yaml b/cob_hardware_config/cob4-2/config/teleop.yaml index d7f696708..b7cec1e22 100644 --- a/cob_hardware_config/cob4-2/config/teleop.yaml +++ b/cob_hardware_config/cob4-2/config/teleop.yaml @@ -1,20 +1,97 @@ +#cob4-2 +########## # common params run_factor: 2.0 +joy_num_buttons: 12 +joy_num_axes: 6 +joy_num_modes: 4 +mode_switch_button: 8 +light_topic_name: /light_torso/light + +# axes +axis_vx: 1 +axis_vy: 0 +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 # buttons deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base run_button: 7 -base_safety_button: 4 -# axes -axis_vx: 1 -axis_vy: 0 -axis_vth: 2 +#mode2: Trajectory controller +torso_sss_default_target_button: 1 +sensorring_sss_default_target_button: 3 +head_sss_default_target_button: 3 +arm_right_sss_default_target_button: 2 +arm_left_sss_default_target_button: 0 + +#mode3: Velocity group controller +torso_joint1_button: 0 +sensorring_joint1_button: 1 +head_joint1_button: 2 +arm_right_joint1_button: 0 +arm_right_joint2_button: 1 +arm_right_joint3_button: 2 +arm_right_joint4_button: 3 +arm_left_joint1_button: 0 +arm_left_joint2_button: 1 +arm_left_joint3_button: 2 +arm_left_joint4_button: 3 + +right_indicator_button: 7 +left_indicator_button: 6 +up_down_button: 5 +right_left_button: 4 + +#mode4: Twist controller +torso_twist_button: 1 +head_twist_button: 3 +arm_right_twist_button: 2 +arm_left_twist_button: 0 -# component configuration -modules: { +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] + twist_topic_name: '/base_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] + }, + torso: { + sss_default_target: "home", + velocity_topic_name: "/torso/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05], + twist_topic_name: '/torso/twist_controller/command_twist', + twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] + }, + head: { + sss_default_target: "front", + velocity_topic_name: "/head/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05], + twist_topic_name: '/head/twist_controller/command_twist', + twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] + }, + sensorring: { + sss_default_target: "front", + velocity_topic_name: "/sensorring/joint_group_velocity_controller/command", + joint_velocity: [0.05] + }, + arm_left: { + sss_default_target: "home", + velocity_topic_name: "/arm_left/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05], + twist_topic_name: '/arm_left/twist_controller/command_twist', + twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] + }, + arm_right: { + sss_default_target: "home", + velocity_topic_name: "/arm_right/joint_group_velocity_controller/command", + joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05], + twist_topic_name: '/arm_right/twist_controller/command_twist', + twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] } } diff --git a/cob_hardware_config/cob4-4/config/teleop.yaml b/cob_hardware_config/cob4-4/config/teleop.yaml index d7f696708..531617396 100644 --- a/cob_hardware_config/cob4-4/config/teleop.yaml +++ b/cob_hardware_config/cob4-4/config/teleop.yaml @@ -1,20 +1,27 @@ +#cob4-4 +########## # common params run_factor: 2.0 - -# buttons -deadman_button: 5 -run_button: 7 -base_safety_button: 4 +joy_num_axes: 6 +joy_num_modes: 1 # axes axis_vx: 1 axis_vy: 0 -axis_vth: 2 +axis_yaw: 3 + +# buttons +deadman_button: 5 +safety_button: 4 +init_button: 7 + +#mode1: Base +run_button: -# component configuration -modules: { +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] + twist_topic_name: '/base/twist_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] } } diff --git a/cob_hardware_config/cob4-6/config/teleop.yaml b/cob_hardware_config/cob4-6/config/teleop.yaml index d7f696708..02c01a206 100644 --- a/cob_hardware_config/cob4-6/config/teleop.yaml +++ b/cob_hardware_config/cob4-6/config/teleop.yaml @@ -1,20 +1,27 @@ +#cob4-6 +########## # common params run_factor: 2.0 - -# buttons -deadman_button: 5 -run_button: 7 -base_safety_button: 4 +joy_num_axes: 6 +joy_num_modes: 1 # axes axis_vx: 1 axis_vy: 0 -axis_vth: 2 +axis_yaw: 3 + +# buttons +deadman_button: 5 +safety_button: 4 +init_button: 7 + +#mode1: Base +run_button: -# component configuration -modules: { +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] + twist_topic_name: '/base/twist_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] } } diff --git a/cob_hardware_config/raw3-1/config/teleop.yaml b/cob_hardware_config/raw3-1/config/teleop.yaml index ff8da83a2..2eeef032d 100644 --- a/cob_hardware_config/raw3-1/config/teleop.yaml +++ b/cob_hardware_config/raw3-1/config/teleop.yaml @@ -1,41 +1,32 @@ +#raw3-1 +########## # common params run_factor: 2.0 - -# joy config joy_num_buttons: 12 joy_num_axes: 6 - -# button assignment -lower_neck_button: 6 -upper_neck_button: -4 -tray_button: 3 -arm_joint12_button: 0 -arm_joint34_button: 1 -arm_joint56_button: 2 -arm_joint7_button: 3 -deadman_button: 5 -run_button: 7 -base_safety_button: 4 +joy_num_modes: 1 +light_topic_name: /light # axes axis_vx: 1 axis_vy: 0 -axis_vth: 2 -up_down: 5 #tray--up/down; tilt--front/back, here we just name up_down -left_right: 4 #pan--left/right +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 + +# buttons +deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base +run_button: 7 -# component configuration -modules: { +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] - }, - torso: { - joint_names: ['torso_pan_joint','torso_tilt_joint'], - joint_step: [0.15,0.15] - }, - arm: { - joint_names: ['arm_shoulder_pan_joint','arm_shoulder_lift_joint','arm_elbow_joint','arm_wrist_1_joint','arm_wrist_2_joint','arm_wrist_3_joint'], - joint_step: [0.1,0.1,0.1,0.1,0.1,0.1] + twist_topic_name: '/base_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] } } diff --git a/cob_hardware_config/raw3-2/config/teleop.yaml b/cob_hardware_config/raw3-2/config/teleop.yaml index e288fd06e..1805b3bab 100644 --- a/cob_hardware_config/raw3-2/config/teleop.yaml +++ b/cob_hardware_config/raw3-2/config/teleop.yaml @@ -1,49 +1,31 @@ +#raw3-2 +########## # common params run_factor: 2.0 - -# buttons -lower_neck_button: 6 -upper_neck_button: 4 -tray_button: 3 -arm_joint12_button: 0 -arm_joint34_button: 1 -arm_joint56_button: 2 -arm_joint7_button: 3 -deadman_button: 5 -run_button: 7 -base_safety_button: 4 +joy_num_buttons: 12 +joy_num_axes: 6 +joy_num_modes: 1 # axes axis_vx: 1 axis_vy: 0 -axis_vth: 2 -up_down: 5 #tray--up/down; tilt--front/back, here we just name up_down -left_right: 4 #pan--left/right +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 + +# buttons +deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base +run_button: 7 -# component configuration -modules: { +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] - }, - tray: { - joint_names: ['torso_tray_joint'], - joint_step: [0.1] - }, - torso: { - joint_names: ['torso_lower_neck_tilt_joint','torso_pan_joint','torso_upper_neck_tilt_joint'], - joint_step: [0.05,0.075,0.075] - }, - head: { - joint_names: ['empty'], - joint_step: [0.0] - }, - arm: { - joint_names: ['arm_1_joint','arm_2_joint','arm_3_joint','arm_4_joint','arm_5_joint','arm_6_joint','arm_7_joint'], - joint_step: [0.1,0.1,0.1,0.1,0.1,0.1,0.1] - }, - gripper: { - joint_names: ['empty'], - joint_step: [0.0] + twist_topic_name: '/base_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] } } diff --git a/cob_hardware_config/raw3-3/config/teleop.yaml b/cob_hardware_config/raw3-3/config/teleop.yaml index 6c28c5305..90ad19a5d 100644 --- a/cob_hardware_config/raw3-3/config/teleop.yaml +++ b/cob_hardware_config/raw3-3/config/teleop.yaml @@ -1,37 +1,32 @@ +#raw3-3 +########## # common params run_factor: 2.0 - -# buttons -lower_neck_button: 6 -upper_neck_button: 4 -tray_button: 3 -arm_joint12_button: 0 -arm_joint34_button: 1 -arm_joint56_button: 2 -arm_joint7_button: 3 -deadman_button: 5 -run_button: 7 -base_safety_button: 4 +joy_num_buttons: 12 +joy_num_axes: 6 +joy_num_modes: 1 +light_topic_name: /light # axes axis_vx: 1 axis_vy: 0 -axis_vth: 2 -up_down: 5 #tray--up/down; tilt--front/back, here we just name up_down -left_right: 4 #pan--left/right +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 + +# buttons +deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base +run_button: 7 -# component configuration -modules: { +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] - }, - arm: { - joint_names: ['arm_left_1_joint','arm_left_2_joint','arm_left_3_joint','arm_left_4_joint','arm_left_5_joint','arm_left_6_joint','arm_left_7_joint'], - joint_step: [0.1,0.1,0.1,0.1,0.1,0.1,0.1] - }, - torso: { - joint_names: ['head_powerball_bottom_joint', 'head_powerball_side_joint'], - joint_step: [0.05,0.075] - }, + twist_topic_name: '/base_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] + } } diff --git a/cob_hardware_config/raw3-4/config/teleop.yaml b/cob_hardware_config/raw3-4/config/teleop.yaml index e288fd06e..c99db5be8 100644 --- a/cob_hardware_config/raw3-4/config/teleop.yaml +++ b/cob_hardware_config/raw3-4/config/teleop.yaml @@ -1,49 +1,31 @@ +#raw3-4 +########## # common params run_factor: 2.0 - -# buttons -lower_neck_button: 6 -upper_neck_button: 4 -tray_button: 3 -arm_joint12_button: 0 -arm_joint34_button: 1 -arm_joint56_button: 2 -arm_joint7_button: 3 -deadman_button: 5 -run_button: 7 -base_safety_button: 4 +joy_num_buttons: 12 +joy_num_axes: 6 +joy_num_modes: 1 # axes axis_vx: 1 axis_vy: 0 -axis_vth: 2 -up_down: 5 #tray--up/down; tilt--front/back, here we just name up_down -left_right: 4 #pan--left/right +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 + +# buttons +deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base +run_button: 7 -# component configuration -modules: { +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] - }, - tray: { - joint_names: ['torso_tray_joint'], - joint_step: [0.1] - }, - torso: { - joint_names: ['torso_lower_neck_tilt_joint','torso_pan_joint','torso_upper_neck_tilt_joint'], - joint_step: [0.05,0.075,0.075] - }, - head: { - joint_names: ['empty'], - joint_step: [0.0] - }, - arm: { - joint_names: ['arm_1_joint','arm_2_joint','arm_3_joint','arm_4_joint','arm_5_joint','arm_6_joint','arm_7_joint'], - joint_step: [0.1,0.1,0.1,0.1,0.1,0.1,0.1] - }, - gripper: { - joint_names: ['empty'], - joint_step: [0.0] + twist_topic_name: '/base_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] } } diff --git a/cob_hardware_config/raw3-5/config/teleop.yaml b/cob_hardware_config/raw3-5/config/teleop.yaml index 8885f72d5..3a0b5c71f 100644 --- a/cob_hardware_config/raw3-5/config/teleop.yaml +++ b/cob_hardware_config/raw3-5/config/teleop.yaml @@ -1,29 +1,31 @@ +#raw3-5 +########## # common params run_factor: 2.0 - -# buttons -lower_neck_button: 6 -upper_neck_button: 4 -tray_button: 3 -arm_joint12_button: 0 -arm_joint34_button: 1 -arm_joint56_button: 2 -arm_joint7_button: 3 -deadman_button: 5 -run_button: 7 -base_safety_button: 4 +joy_num_buttons: 12 +joy_num_axes: 6 +joy_num_modes: 1 # axes axis_vx: 1 axis_vy: 0 -axis_vth: 2 -up_down: 5 #tray--up/down; tilt--front/back, here we just name up_down -left_right: 4 #pan--left/right +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 + +# buttons +deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base +run_button: 7 -# component configuration -modules: { +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] + twist_topic_name: '/base_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] } } diff --git a/cob_hardware_config/raw3-6/config/teleop.yaml b/cob_hardware_config/raw3-6/config/teleop.yaml index d892384e5..1f45ec868 100644 --- a/cob_hardware_config/raw3-6/config/teleop.yaml +++ b/cob_hardware_config/raw3-6/config/teleop.yaml @@ -1,33 +1,31 @@ +#raw3-6 +########## # common params run_factor: 2.0 - -# joy config joy_num_buttons: 12 joy_num_axes: 6 - -# button assignment -lower_neck_button: 6 -upper_neck_button: 4 -tray_button: 3 -arm_joint12_button: 0 -arm_joint34_button: 1 -arm_joint56_button: 2 -arm_joint7_button: 3 -deadman_button: 5 -run_button: 7 -base_safety_button: 4 +joy_num_modes: 1 # axes axis_vx: 1 axis_vy: 0 -axis_vth: 2 -up_down: 5 #tray--up/down; tilt--front/back, here we just name up_down -left_right: 4 #pan--left/right +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 + +# buttons +deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base +run_button: 7 -# component configuration -modules: { +components: { base: { - max_velocity: [0.3, 0.2, 0.3], - max_acceleration: [0.5, 0.5, 0.7] + twist_topic_name: '/base_controller/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] } } From eba1caee9efff4f67599e1e4a1d19434282a7320 Mon Sep 17 00:00:00 2001 From: ipa-nhg Date: Fri, 18 Sep 2015 14:56:05 +0200 Subject: [PATCH 2/4] use local namespaces --- cob_bringup/tools/teleop.launch | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/cob_bringup/tools/teleop.launch b/cob_bringup/tools/teleop.launch index d1932fe0b..f98f9675e 100644 --- a/cob_bringup/tools/teleop.launch +++ b/cob_bringup/tools/teleop.launch @@ -9,9 +9,8 @@ - - + + - From 6eee09aef089b233cba5581cae9c4c422432b671 Mon Sep 17 00:00:00 2001 From: ipa-nhg Date: Fri, 18 Sep 2015 16:01:25 +0200 Subject: [PATCH 3/4] added white spaces --- cob_hardware_config/cob3-2/config/teleop.yaml | 4 ++-- cob_hardware_config/cob3-6/config/teleop.yaml | 4 ++-- cob_hardware_config/cob3-9/config/teleop.yaml | 4 ++-- cob_hardware_config/cob4-1/config/teleop.yaml | 6 +++--- cob_hardware_config/cob4-2/config/teleop.yaml | 8 ++++---- 5 files changed, 13 insertions(+), 13 deletions(-) diff --git a/cob_hardware_config/cob3-2/config/teleop.yaml b/cob_hardware_config/cob3-2/config/teleop.yaml index 44cbcb46e..7a410035b 100644 --- a/cob_hardware_config/cob3-2/config/teleop.yaml +++ b/cob_hardware_config/cob3-2/config/teleop.yaml @@ -47,7 +47,7 @@ components: { torso: { sss_default_target: "home", velocity_topic_name: "/torso/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05,0.05,0.05] + joint_velocity: [0.05, 0.05, 0.05, 0.05] }, head: { sss_default_target: "front", @@ -57,6 +57,6 @@ components: { arm: { sss_default_target: "home", velocity_topic_name: "/arm/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05] + joint_velocity: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05] } } diff --git a/cob_hardware_config/cob3-6/config/teleop.yaml b/cob_hardware_config/cob3-6/config/teleop.yaml index 117d81cb9..79d089177 100644 --- a/cob_hardware_config/cob3-6/config/teleop.yaml +++ b/cob_hardware_config/cob3-6/config/teleop.yaml @@ -47,7 +47,7 @@ components: { torso: { sss_default_target: "home", velocity_topic_name: "/torso/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05,0.05] + joint_velocity: [0.05, 0.05, 0.05] }, head: { sss_default_target: "front", @@ -57,6 +57,6 @@ components: { arm: { sss_default_target: "home", velocity_topic_name: "/arm/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05] + joint_velocity: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05] } } diff --git a/cob_hardware_config/cob3-9/config/teleop.yaml b/cob_hardware_config/cob3-9/config/teleop.yaml index 4fada4c55..ef1de0312 100644 --- a/cob_hardware_config/cob3-9/config/teleop.yaml +++ b/cob_hardware_config/cob3-9/config/teleop.yaml @@ -47,7 +47,7 @@ components: { torso: { sss_default_target: "home", velocity_topic_name: "/torso/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05,0.05] + joint_velocity: [0.05, 0.05, 0.05] }, head: { sss_default_target: "front", @@ -57,6 +57,6 @@ components: { arm: { sss_default_target: "home", velocity_topic_name: "/arm/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05] + joint_velocity: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05] } } diff --git a/cob_hardware_config/cob4-1/config/teleop.yaml b/cob_hardware_config/cob4-1/config/teleop.yaml index 79767dcfc..8b0703fc4 100644 --- a/cob_hardware_config/cob4-1/config/teleop.yaml +++ b/cob_hardware_config/cob4-1/config/teleop.yaml @@ -64,7 +64,7 @@ components: { torso: { sss_default_target: "home", velocity_topic_name: "/torso/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05], + joint_velocity: [0.05, 0.05], twist_topic_name: '/torso/twist_controller/command_twist', twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] }, @@ -83,14 +83,14 @@ components: { arm_left: { sss_default_target: "home", velocity_topic_name: "/arm_left/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05], + joint_velocity: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05], twist_topic_name: '/arm_left/twist_controller/command_twist', twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] }, arm_right: { sss_default_target: "home", velocity_topic_name: "/arm_right/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05], + joint_velocity: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05], twist_topic_name: '/arm_right/twist_controller/command_twist', twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] } diff --git a/cob_hardware_config/cob4-2/config/teleop.yaml b/cob_hardware_config/cob4-2/config/teleop.yaml index b7cec1e22..7a1cc0488 100644 --- a/cob_hardware_config/cob4-2/config/teleop.yaml +++ b/cob_hardware_config/cob4-2/config/teleop.yaml @@ -64,14 +64,14 @@ components: { torso: { sss_default_target: "home", velocity_topic_name: "/torso/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05], + joint_velocity: [0.05, 0.05], twist_topic_name: '/torso/twist_controller/command_twist', twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] }, head: { sss_default_target: "front", velocity_topic_name: "/head/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05], + joint_velocity: [0.05, 0.05], twist_topic_name: '/head/twist_controller/command_twist', twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] }, @@ -83,14 +83,14 @@ components: { arm_left: { sss_default_target: "home", velocity_topic_name: "/arm_left/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05], + joint_velocity: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05], twist_topic_name: '/arm_left/twist_controller/command_twist', twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] }, arm_right: { sss_default_target: "home", velocity_topic_name: "/arm_right/joint_group_velocity_controller/command", - joint_velocity: [0.05,0.05,0.05,0.05,0.05,0.05,0.05], + joint_velocity: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05], twist_topic_name: '/arm_right/twist_controller/command_twist', twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] } From ab50b4da327cc73aeb05291c682ee79489563327 Mon Sep 17 00:00:00 2001 From: ipa-nhg Date: Thu, 24 Sep 2015 14:55:22 +0200 Subject: [PATCH 4/4] use action server light --- cob_hardware_config/cob3-2/config/teleop.yaml | 2 +- cob_hardware_config/cob3-6/config/teleop.yaml | 2 +- cob_hardware_config/cob3-9/config/teleop.yaml | 2 +- cob_hardware_config/cob4-1/config/teleop.yaml | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/cob_hardware_config/cob3-2/config/teleop.yaml b/cob_hardware_config/cob3-2/config/teleop.yaml index 7a410035b..da84d0525 100644 --- a/cob_hardware_config/cob3-2/config/teleop.yaml +++ b/cob_hardware_config/cob3-2/config/teleop.yaml @@ -6,7 +6,7 @@ joy_num_buttons: 12 joy_num_axes: 6 joy_num_modes: 4 mode_switch_button: 8 -light_topic_name: /light +light_action_name: /light/set_light # axes axis_vx: 1 diff --git a/cob_hardware_config/cob3-6/config/teleop.yaml b/cob_hardware_config/cob3-6/config/teleop.yaml index 79d089177..7e1be98cc 100644 --- a/cob_hardware_config/cob3-6/config/teleop.yaml +++ b/cob_hardware_config/cob3-6/config/teleop.yaml @@ -6,7 +6,7 @@ joy_num_buttons: 12 joy_num_axes: 6 joy_num_modes: 4 mode_switch_button: 8 -light_topic_name: /light +light_action_name: /light/set_light # axes axis_vx: 1 diff --git a/cob_hardware_config/cob3-9/config/teleop.yaml b/cob_hardware_config/cob3-9/config/teleop.yaml index ef1de0312..deb69e4b9 100644 --- a/cob_hardware_config/cob3-9/config/teleop.yaml +++ b/cob_hardware_config/cob3-9/config/teleop.yaml @@ -6,7 +6,7 @@ joy_num_buttons: 12 joy_num_axes: 6 joy_num_modes: 4 mode_switch_button: 8 -light_topic_name: /light +light_action_name: /light/set_light # axes axis_vx: 1 diff --git a/cob_hardware_config/cob4-1/config/teleop.yaml b/cob_hardware_config/cob4-1/config/teleop.yaml index 8b0703fc4..9c88bd738 100644 --- a/cob_hardware_config/cob4-1/config/teleop.yaml +++ b/cob_hardware_config/cob4-1/config/teleop.yaml @@ -6,7 +6,7 @@ joy_num_buttons: 12 joy_num_axes: 6 joy_num_modes: 4 mode_switch_button: 8 -light_topic_name: /light_torso/light +light_action_name: /light_torso/set_light # axes axis_vx: 1