From e6f4214a4172ae9c6b3306697d757a03a920630f Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Wed, 26 Apr 2017 16:16:56 +0200 Subject: [PATCH] final cleanup --- cob_bringup/robots/raw3-3.launch | 1 - cob_bringup/robots/raw3-3.xml | 7 - .../torso_joint_configurations.yaml | 7 - .../robots/raw3-3/upload_param_raw3-3.launch | 1 - .../robots/raw3-3/config/base/CanCtrl.ini | 377 --------- .../raw3-3/config/base/Interpolation.ini | 82 -- .../robots/raw3-3/config/base/MotionCtrl.ini | 148 ---- .../robots/raw3-3/config/base/NetworkComm.ini | 15 - .../robots/raw3-3/config/base/Platform.ini | 750 ------------------ .../robots/raw3-3/config/base/PltfIdent.ini | 65 -- .../config/cameras/parameters_left.yaml | 15 - .../config/cameras/parameters_right.yaml | 14 - .../raw3-3/config/pc_monitor_raw3-3-pc1.yaml | 2 +- .../raw3-3/config/torso_controller.yaml | 11 - .../robots/raw3-3/config/torso_driver.yaml | 9 - 15 files changed, 1 insertion(+), 1503 deletions(-) delete mode 100644 cob_default_robot_config/robots/raw3-3/script_server/torso_joint_configurations.yaml delete mode 100644 cob_hardware_config/robots/raw3-3/config/base/CanCtrl.ini delete mode 100644 cob_hardware_config/robots/raw3-3/config/base/Interpolation.ini delete mode 100644 cob_hardware_config/robots/raw3-3/config/base/MotionCtrl.ini delete mode 100644 cob_hardware_config/robots/raw3-3/config/base/NetworkComm.ini delete mode 100644 cob_hardware_config/robots/raw3-3/config/base/Platform.ini delete mode 100644 cob_hardware_config/robots/raw3-3/config/base/PltfIdent.ini delete mode 100644 cob_hardware_config/robots/raw3-3/config/cameras/parameters_left.yaml delete mode 100644 cob_hardware_config/robots/raw3-3/config/cameras/parameters_right.yaml delete mode 100644 cob_hardware_config/robots/raw3-3/config/torso_controller.yaml delete mode 100644 cob_hardware_config/robots/raw3-3/config/torso_driver.yaml diff --git a/cob_bringup/robots/raw3-3.launch b/cob_bringup/robots/raw3-3.launch index 7d232695e..ca923de4a 100644 --- a/cob_bringup/robots/raw3-3.launch +++ b/cob_bringup/robots/raw3-3.launch @@ -6,7 +6,6 @@ - diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml index 82524af61..4f233dcf1 100644 --- a/cob_bringup/robots/raw3-3.xml +++ b/cob_bringup/robots/raw3-3.xml @@ -6,7 +6,6 @@ - @@ -55,12 +54,6 @@ - diff --git a/cob_default_robot_config/robots/raw3-3/script_server/torso_joint_configurations.yaml b/cob_default_robot_config/robots/raw3-3/script_server/torso_joint_configurations.yaml deleted file mode 100644 index 0c0855c4f..000000000 --- a/cob_default_robot_config/robots/raw3-3/script_server/torso_joint_configurations.yaml +++ /dev/null @@ -1,7 +0,0 @@ -joint_names: ["head_powerball_bottom_joint","head_powerball_side_joint"] -action_name: /torso_controller/follow_joint_trajectory -service_ns: /torso_controller - -home: [[0.0,0.0]] -pos1: [[0.0,1.3]] -pos2: [[1.57,-1.57]] diff --git a/cob_default_robot_config/robots/raw3-3/upload_param_raw3-3.launch b/cob_default_robot_config/robots/raw3-3/upload_param_raw3-3.launch index 8ec85f9fd..17447c965 100644 --- a/cob_default_robot_config/robots/raw3-3/upload_param_raw3-3.launch +++ b/cob_default_robot_config/robots/raw3-3/upload_param_raw3-3.launch @@ -3,7 +3,6 @@ - diff --git a/cob_hardware_config/robots/raw3-3/config/base/CanCtrl.ini b/cob_hardware_config/robots/raw3-3/config/base/CanCtrl.ini deleted file mode 100644 index c359b633f..000000000 --- a/cob_hardware_config/robots/raw3-3/config/base/CanCtrl.ini +++ /dev/null @@ -1,377 +0,0 @@ -// ---------------------------------------------------------------------- -// Neobotix -// www.neobotix.de -// Copyright (c) 2003. All rights reserved. -// ---------------------------------------------------------------------- - -// ---------------------------------------------------------------------- -// CanCtrl.ini -// Configuration file for neobotix mobile platforms -// ---------------------------------------------------------------------- - - -// ---------------------------------------------------------------------- -// Configuration of the can network -// ---------------------------------------------------------------------- -[TypeCan] -// 0 = Can Peak Dongle -// 1 = Can Peak USB -// 2 = Can Card ESD -Can = 0 - -DevicePath = "/dev/pcan0" - -[CanCtrl] -// network of esd card (0 or 1) -NetESD = 0 -// Baudrate values: -0 = 1000 kbit/s -2 = 500 kbit/s -4 = 250 kbit/s -6 = 125 kbit/s -9 = 50 kbit/s -B = 20 kbit/s -D = 10 kbit/s -BaudrateVal = 0 - - -[CanNeoIDs] -// Can-IDs if Neobotix Boards are used (only read from Inifile for CoB3 Platforms) -DriveNeo_W1Drive_rx_ID = 0x0210 -DriveNeo_W1Drive_tx_ID = 0x0211 -DriveNeo_W1Steer_rx_ID = 0x0220 -DriveNeo_W1Steer_tx_ID = 0x0221 - -DriveNeo_W2Drive_rx_ID = 0x0230 -DriveNeo_W2Drive_tx_ID = 0x0231 -DriveNeo_W2Steer_rx_ID = 0x0240 -DriveNeo_W2Steer_tx_ID = 0x0241 - -DriveNeo_W3Drive_rx_ID = 0x0250 -DriveNeo_W3Drive_tx_ID = 0x0251 -DriveNeo_W3Steer_rx_ID = 0x0260 -DriveNeo_W3Steer_tx_ID = 0x0261 - -DriveNeo_W4Drive_rx_ID = 0x0270 -DriveNeo_W4Drive_tx_ID = 0x0271 -DriveNeo_W4Steer_rx_ID = 0x0280 -DriveNeo_W4Steer_tx_ID = 0x0281 - -IOBoard_rx_ID = 0x0100 -IOBoard_tx_ID = 0x0101 -USBoard_rx_ID = 0x0400 -USBoard_tx_ID = 0x0401 -GyroBoard_rx_ID = 0x0120 -GyroBoard_tx_ID = 0x0121 -RadarBoard_rx_ID = 0x0110 -RadarBoard_tx_ID = 0x0111 - - -[CanOpenIDs] -// Can-IDs for motor controllers if elmo Harmonicas are used via CanOpen -// Wheel 1 -// Drive (can adresse motor 1) -TxPDO1_W1Drive = 0x182; -TxPDO2_W1Drive = 0x282; -RxPDO2_W1Drive = 0x302; -TxSDO_W1Drive = 0x582; -RxSDO_W1Drive = 0x602; - -// Steer (can adresse motor 2) -TxPDO1_W1Steer = 0x181; -TxPDO2_W1Steer = 0x281; -RxPDO2_W1Steer = 0x301; -TxSDO_W1Steer = 0x581; -RxSDO_W1Steer = 0x601; - -// Wheel 2 -// Drive (can adresse motor 3) -TxPDO1_W2Drive = 0x184; -TxPDO2_W2Drive = 0x284; -RxPDO2_W2Drive = 0x304; -TxSDO_W2Drive = 0x584; -RxSDO_W2Drive = 0x604; - -// Steer (can adresse motor 4) -TxPDO1_W2Steer = 0x183; -TxPDO2_W2Steer = 0x283; -RxPDO2_W2Steer = 0x303; -TxSDO_W2Steer = 0x583; -RxSDO_W2Steer = 0x603; - -// Wheel 3 -// Drive (can adresse motor 5) -TxPDO1_W3Drive = 0x186; -TxPDO2_W3Drive = 0x286; -RxPDO2_W3Drive = 0x306; -TxSDO_W3Drive = 0x586; -RxSDO_W3Drive = 0x606; -// Steer (can adresse motor 6) -TxPDO1_W3Steer = 0x185; -TxPDO2_W3Steer = 0x285; -RxPDO2_W3Steer = 0x305; -TxSDO_W3Steer = 0x585; -RxSDO_W3Steer = 0x605; - -// Wheel 4 -// Drive (can adresse motor 7) -TxPDO1_W4Drive = 0x188; -TxPDO2_W4Drive = 0x288; -RxPDO2_W4Drive = 0x308; -TxSDO_W4Drive = 0x588; -RxSDO_W4Drive = 0x608; -// STeer (can adresse motor 8) -TxPDO1_W4Steer = 0x187; -TxPDO2_W4Steer = 0x287; -RxPDO2_W4Steer = 0x307; -TxSDO_W4Steer = 0x587; -RxSDO_W4Steer = 0x607; - - ---------------------------------------- -// Configuration of the drive -// ---------------------------------------------------------------------- -[TypeDrive] - -// use DriveAmpNeoMotNeo, DriveAmpHarmMotTetra85, DriveAmpHarmMotFaul4490, DriveAmpHarmMotFaul4490CoB3Drive, DriveAmpHarmMotFaul4490CoB3Steer -Drive1 = "DriveAmpHarmMotFaul4490CoB3Drive" -Steer1 = "DriveAmpHarmMotFaul4490CoB3Steer" - -[DriveAmpNeoMotNeo] -// Number of encoder increments per revolution -EncIncrPerRevMot = 4096; -// Specific parameter used only in DriveAmpNeoMotNeo -VelMeasFrqHz = 500; -// Gear ratio between the motor and the output schaft -GearRatio = 37; -// Belt ratio between the output shaft and the wheel -BeltRatio = 1; -// Choose 1.0 or -1.0 to change the rotation direction -Sign = -1.0; -// Maximum rotation velocity in [inc/s] -VelMaxEncIncrS = 350; -// acceleration [inc/s^2] -AccIncrS = 80000 -// deceleration [inc/s^2] -DecIncrS = 80000 - -[DriveAmpHarmMotTetra85] -EncIncrPerRevMot = 8000; -VelMeasFrqHz = 1; -GearRatio = 37; -BeltRatio = 1; -Sign = -1.0; -VelMaxEncIncrS = 10000; -AccIncrS = 80000; -DecIncrS = 80000; - -[DriveAmpHarmMotFaul4490] -EncIncrPerRevMot = 2000; -VelMeasFrqHz = 1; -GearRatio = 22; -BeltRatio = 1; -Sign = 1.0; -VelMaxEncIncrS = 120000; -AccIncrS = 80000; -DecIncrS = 80000; - -[Drive1] -EncIncrPerRevMot = 4096; //16384; //4096; -VelMeasFrqHz = 1; -GearRatio = 21; -BeltRatio = 1; -Sign = -1.0; -VelMaxEncIncrS = 240000; -AccIncrS = 1000000; -DecIncrS = 1000000; -EncOffsetIncr = 0; -IsSteering = false; -CurrentToTorque = 0.43; // Factor to convert motor active current [A] into Torque [Nm] -CurrMax = 9.3; // Defines maximum allowed current command (in MotionMode: CurrentCtrl) -HomingDigIn = 19; - -[Steer1] -EncIncrPerRevMot = 8000; -VelMeasFrqHz = 1; -GearRatio = 1; //12.66666666; -BeltRatio = 4; -Sign = 1.0; -VelMaxEncIncrS = 240000; -AccIncrS = 1000000; -DecIncrS = 1000000; -EncOffsetIncr = -12700; //-12892; -IsSteering = true; -CurrentToTorque = 0.087; // Factor to convert motor active current [A] into Torque [Nm] -CurrMax = 6.9; // Defines maximum allowed current command (in MotionMode: CurrentCtrl) -HomingDigIn = 19; - - -[Drive2] -EncIncrPerRevMot = 4096; //16384; //4096; -VelMeasFrqHz = 1; -GearRatio = 21; -BeltRatio = 1; -Sign = -1.0; -VelMaxEncIncrS = 240000; -AccIncrS = 1000000; -DecIncrS = 1000000; -EncOffsetIncr = 12000;//0; -IsSteering = false; -CurrentToTorque = 0.43; // Factor to convert motor active current [A] into Torque [Nm] -CurrMax = 9.3; // Defines maximum allowed current command (in MotionMode: CurrentCtrl) -HomingDigIn = 19; - -[Steer2] -EncIncrPerRevMot = 8000; -VelMeasFrqHz = 1; -GearRatio = 1; //12.66666666; -BeltRatio = 4; -Sign = 1.0; -VelMaxEncIncrS = 240000; -AccIncrS = 1000000; -DecIncrS = 1000000; -EncOffsetIncr = -12673; //-13717; -IsSteering = true; -CurrentToTorque = 0.087; // Factor to convert motor active current [A] into Torque [Nm] -CurrMax = 6.9; // Defines maximum allowed current command (in MotionMode: CurrentCtrl) -HomingDigIn = 19; - -[Drive3] -EncIncrPerRevMot = 4096; //16384; //4096; -VelMeasFrqHz = 1; -GearRatio = 21; -BeltRatio = 1; -Sign = 1.0; -VelMaxEncIncrS = 240000; -AccIncrS = 1000000; -DecIncrS = 1000000; -EncOffsetIncr = 12000;//0; -IsSteering = false; -CurrentToTorque = 0.43; // Factor to convert motor active current [A] into Torque [Nm] -CurrMax = 9.3; // Defines maximum allowed current command (in MotionMode: CurrentCtrl) -HomingDigIn = 19; - -[Steer3] -EncIncrPerRevMot = 8000; -VelMeasFrqHz = 1; -GearRatio = 1; //12.66666666; -BeltRatio = 4; -Sign = 1.0; -VelMaxEncIncrS = 240000; -AccIncrS = 1000000; -DecIncrS = 1000000; -EncOffsetIncr = 14093; //-13019; -IsSteering = true; -CurrentToTorque = 0.087; // Factor to convert motor active current [A] into Torque [Nm] -CurrMax = 6.9; // Defines maximum allowed current command (in MotionMode: CurrentCtrl) -HomingDigIn = 17; - - -[Drive4] -EncIncrPerRevMot = 4096; // 16384; //4096; -VelMeasFrqHz = 1; -GearRatio = 21; -BeltRatio = 1; -Sign = 1.0; -VelMaxEncIncrS = 240000; -AccIncrS = 1000000; -DecIncrS = 1000000; -EncOffsetIncr = 0;//0; -IsSteering = false; -CurrentToTorque = 0.43; // Factor to convert motor active current [A] into Torque [Nm] -CurrMax = 9.3; // Defines maximum allowed current command (in MotionMode: CurrentCtrl) -HomingDigIn = 19; - -[Steer4] -EncIncrPerRevMot = 8000; -VelMeasFrqHz = 1; -GearRatio = 1; //12.66666666; -BeltRatio = 4; -Sign = 1.0; -VelMaxEncIncrS = 240000; -AccIncrS = 1000000; -DecIncrS = 1000000; -EncOffsetIncr = 13972; //13711; -IsSteering = true; -CurrentToTorque = 0.087; // Factor to convert motor active current [A] into Torque [Nm] -CurrMax = 6.9; // Defines maximum allowed current command (in MotionMode: CurrentCtrl) -HomingDigIn = 19; - - -// ---------------------------------------------------------------------- -// Configuration of the ultrasonic sensors -// ---------------------------------------------------------------------- - -// ultrasonic sensors -[US] -/ factor to scale ultrasonic values -ScaleToMM = 0.543 - -// Each ultrasonic sensor has the parameters: -// Minimum measure distance in [mm] -// MinMeasDistMM = xxx; -// Maximum measure distance in [mm] -// MaxMeasDistMM = xxx; -// PosXMM x-coordinate with respect to the platform frame in [mm] -// PosXMM = xxx; -// PosYMM y-coordinate with respect to the platform frame in [mm] -// PosYMM = xxx; -// PosZMM z-coordinate with respect to the platform frame in [mm] -// PosZMM = xxx; - -[US0] -MinMeasDistMM = 10; -MaxMeasDistMM = 4000; -PosXMM = 0; -PosYMM = 100; -PosZMM = 200; - -[US1] -MinMeasDistMM = 10; -MaxMeasDistMM = 4000; -PosXMM = 0; -PosYMM = 100; -PosZMM = 300; - -[US2] -MinMeasDistMM = 10; -MaxMeasDistMM = 4000; -PosXMM = 0; -PosYMM = 100; -PosZMM = 400; - -[US3] -MinMeasDistMM = 10; -MaxMeasDistMM = 4000; -PosXMM = 0; -PosYMM = -100; -PosZMM = 200; - -[US4] -MinMeasDistMM = 10; -MaxMeasDistMM = 4000; -PosXMM = 0; -PosYMM = -100; -PosZMM = 300; - -[US5] -MinMeasDistMM = 10; -MaxMeasDistMM = 4000; -PosXMM = 0; -PosYMM = -100; -PosZMM = 400; - -[US6] -MinMeasDistMM = 10; -MaxMeasDistMM = 4000; -PosXMM = 0; -PosYMM = -100; -PosZMM = 400; - -[US7] -MinMeasDistMM = 10; -MaxMeasDistMM = 4000; -PosXMM = 0; -PosYMM = -100; -PosZMM = 400; - diff --git a/cob_hardware_config/robots/raw3-3/config/base/Interpolation.ini b/cob_hardware_config/robots/raw3-3/config/base/Interpolation.ini deleted file mode 100644 index bba737b61..000000000 --- a/cob_hardware_config/robots/raw3-3/config/base/Interpolation.ini +++ /dev/null @@ -1,82 +0,0 @@ -// ---------------------------------------------------------------------- -// Neobotix -// www.neobotix.de -// Copyright (c) 2003. All rights reserved. -// ---------------------------------------------------------------------- - -// ---------------------------------------------------------------------- -// Interpolation.ini -// Configuration file for neobotix mobile platforms -// ---------------------------------------------------------------------- - - -// ---------------------------------------------------------------------- -// Configuration of the interpolator -// ---------------------------------------------------------------------- -[Interpolation] - -// Maximum distance between estimated and interpolated position of the platfrom. -// If the distance is greater the interpolator waits. -IpoStartDist = 1000 - -// Default translational velocity for interpolated motion [mm/s] -IpoTransVel = 500 //250//1000.0 - -// Default translational acceleration for interpolated motion [mm/s/s] -IpoTransAcc = 75 //50 //100.0 - -// Default rotational velocity for interpolated turning [rad/s] -IpoRotVel = 0.3 - -// Default rotational acceleration for interpolated turning [rad/s/s] -IpoRotAcc = 0.15 - -// Maximum velocity which can be reached on a straight route. -IpoTransVelMax = 500 //1100.0 - -// Maximum rotation velocity. In a curve the translation velocity will be -// reduced in order to fullfill the constrain. [rad/s] -IpoRotVelMax = 0.4 - -// Maximum rotation acceleration [rad/s/s] -IpoRotAccMax = 0.6 - -// The velocity is reduced in a curve applying a linear function. -// The minimum velocity is reached at that curvature [rad/mm] -CurvAtMinVel = 0.003 - -// The velocity in curve with the curvature 'CurvAtMinVel' -VelMinAtCurvMax = 100 - - -// --------- specific to omnidir.driving -------- - -// Prms for smooth interpolation of robot rotation (omnidir) -// Virt.Mass -VMassRR = 0.75 -// Spring-Constant -kSpringRR = 5.5 -// Damping-coeff -DampRR = 4.0 - -// Prms for smooth interpolation of velocity direction rotation (omnidir) -// Virt.Mass -VMassRV = 0.75 -// Spring-Constant -kSpringRV = 5.5 -// Damping-coeff -DampRV = 4.0 - -// Maximum rotation velocity. In a curve the translation velocity will be -// reduced in order to fullfill the constrain. [rad/s] -IpoRotRVelMax = 0.8 - -// Maximum rotation acceleration [rad/s/s] -IpoRotRAccMax = 0.4 - -// Maximum rotation velocity. In a curve the translation velocity will be -// reduced in order to fullfill the constrain. [rad/s] -IpoRotVVelMax = 1.0 //0.4 - -// Maximum rotation acceleration [rad/s/s] -IpoRotVAccMax = 0.6 diff --git a/cob_hardware_config/robots/raw3-3/config/base/MotionCtrl.ini b/cob_hardware_config/robots/raw3-3/config/base/MotionCtrl.ini deleted file mode 100644 index f4bda56ee..000000000 --- a/cob_hardware_config/robots/raw3-3/config/base/MotionCtrl.ini +++ /dev/null @@ -1,148 +0,0 @@ -// ---------------------------------------------------------------------- -// Neobotix -// www.neobotix.de -// Copyright (c) 2003. All rights reserved. -// ---------------------------------------------------------------------- - -// ---------------------------------------------------------------------- -// MotionCtrl.ini -// Configuration file for neobotix mobile platforms -// ---------------------------------------------------------------------- - - -// ---------------------------------------------------------------------- -// Configuration of the nonlinear controller for pose tracking -// ---------------------------------------------------------------------- -[MotionCtrl] - -// Maximum translational velocity in mm/s -VelTransMotCtrlMax = 500 //250 //560 //520 //920 //650 //920 //1300 // 500 - -// Maximum rotational velocity [rad/s] -VelRotMotCtrlMax = 1.0 //0.4 //0.9 // 1.7 //1.0 //1.4 // 1.0 - -// Controller type -// 0: Posture tracking -// 1: Path following -CtrlType = 1 - -// Control parameter (refer to the platform documentation) -CtrlPara1 = 0.6 - -// Control parameter (refer to the platform documentation) -CtrlPara2 = 8.0e-6 //0.000008 - -// Control parameter for path following -PathFollowRiseParam = 20.0e-4 - -// Control parameter for path following -PathFollowDampParam = 2.75 //1.765 //0.765 // 1.765 - -// Maximum acceleration of the rotation velocity -// The acceleration is given in the velocity increment in on control cycle [rad/s] -AccelRotInVelIncPerCycleRadS = 0.08 //0.3 //0.5 //0.4 // 1.4 // 0.1 // 0.08 // 1.4 - -// Control parameter for path following -RiseDist1 = 0.005 -VelAtRiseDist1 = 100 -RiseDist2 = 0.002 -VelAtRiseDist2 = 550//1000 - -// ---------------------------------------------------------------------- -// Configuration of the PID-Controller for positioning of steering-wheels -// ---------------------------------------------------------------------- -[SteerCtrl] -// Parameters for tuning PI-Controller -Kp = 10.5 //1.75; //5.0; -Ki = 0.0 //1.15; //0.10; - -// Parameters for tuning Impedance-Controller -Spring = 15.0 //10.5 -Damp = 2.75 //2.1 -VirtMass = 0.1 -DPhiMax = 10.0 //12.0 -DDPhiMax = 40.0 //75.0 //100.0 - -// determines weight of ICM-motion and Steer-Ctrl-Error for calc of final setpoint values -// weight of ICM-Motion (influence of inverse kinematics) -ICMWeightonSteer = 1.0 //0.8 //0.85 - -// weight of commands to reduce steady state error (influence of Steer-Ctrlr) -ErrWeightonSteer = 1.0 //0.2 //0.15 - - -// ---------------------------------------------------------------------- -// Configuration of the Potential-Field-Controller for ICM -// ---------------------------------------------------------------------- -[PotFieldCtrl] -// settings for attractive potential field and damping -// scales gradient of attractive potential field ("stiffness") -kp = 16; - -// scales damping -kv = 4; - -// virtual Inertia of ICM -virtMass = 0.25; - -// max. allowed "velocity" of ICM in ICM-space -vmax = 1.570796; - -// settings for repulsive potential fields -// scales region of influence of repulsive potential fields -d0 = 1.0; - -// scales gradient of repulsive potential fields -eta = 8.0; - -// ellipse principal axis Prms (determines form of repulsive potential fiedls circle <-> ellipse) -// principal axis in Phi-direction -a = 0.75; - -// principal axis in Theta-direction -b = 0.45; - - -// settings for predictive part of ctrlr -// range of prediction window (must be > 0) -n = 16; - -// scales gradient of potential field for Rho-part of ICM -d0Rho = 16 - -// scales damping -d1Rho = 4 - -// scales virtual mass -d2Rho = 0.2 - - -// ---------------------------------------------------------------------- -// Configuration of the controller for pose stabilization -// ---------------------------------------------------------------------- -[PoseStabil] - -// True: Pose stabilization is enabled -PoseStabilEnabled = false - -// Target radius in [mm] -PosTargetReached = 30 - -// Intervall of the target angle [rad] -AngleTargetReached = 0.017 - -// Maximum velocity while pose stabilization -VelTransMotCtrlMax = 100 - -// Maximum rotational velocity while pose stabilization -VelRotMotCtrlMax = 0.2 - -// Control parameter of a proportianal controller for the x-direction -MultVelTransDeltaX = 0.8 - -// Control parameter of a proportianal controller for the angle -MultVelRotDeltaAng = 1.0 - -// Distance to drive backward while shunting. -BwdDistMM = 500 - diff --git a/cob_hardware_config/robots/raw3-3/config/base/NetworkComm.ini b/cob_hardware_config/robots/raw3-3/config/base/NetworkComm.ini deleted file mode 100644 index c24ea9e89..000000000 --- a/cob_hardware_config/robots/raw3-3/config/base/NetworkComm.ini +++ /dev/null @@ -1,15 +0,0 @@ -[TypeGuiComm] -// Enable conventional communication to (Java) GUI (usually should be enabled) -EnableGuiComm = 1 - -// Enable communication via OPC/UA -EnableOPCComm = 0 - -// Enable communication via OPC/UA, accessed via ADS -EnableOPCviaADSComm = 0 - -[OPC-Timing] -// This is the timing settings for the thread to access OPC via ADS - -// Cycle time of the thread, given in seconds -CycleTimeS = 0.05 diff --git a/cob_hardware_config/robots/raw3-3/config/base/Platform.ini b/cob_hardware_config/robots/raw3-3/config/base/Platform.ini deleted file mode 100644 index 8308dfee1..000000000 --- a/cob_hardware_config/robots/raw3-3/config/base/Platform.ini +++ /dev/null @@ -1,750 +0,0 @@ -// ---------------------------------------------------------------------- -// Neobotix -// www.neobotix.de -// Copyright (c) 2003. All rights reserved. -// ---------------------------------------------------------------------- - -// ---------------------------------------------------------------------- -// Platform.ini -// Configuration file for neobotix mobile platforms -// ---------------------------------------------------------------------- -// -// ---------------------------------------------------------------------- -// Configuration of the platform geometry -// ---------------------------------------------------------------------- -[Geom] - -// Length of the platform in [mm] -PltfLength = 752 - -// Width of the platform in [mm] -PltfWidth = 565 - -// Distance of the wheels in [mm] // also used in ThreadMotionCtrl->PostProcess (ToDo: get rid of it) -DistWheels = 470 - -// Distance of the platform center to the wheel axis in [mm] -DistPltfCenterToWheelAxis = 0 - -// Distance of the wheels steering axis to the wheel center in [mm] -DistSteerAxisToDriveWheelCenter = 0 //22 // (Neobotix: 18.1) - -// Distance of the wheel axis to the front scanner in [mm] in x-direction // has to be replaced by distance between PlatformCenter and Scanner -DistWheelAxisToScanner = 465 -// Distance of the Platform center to the front scanner in [mm] in y-direction -ScannerDeltaY = -232 -// Angle between the Platform frame an the front scanner in [rad] -ScannerDeltaPhi = 0 - -// Distance of the wheel axis to the rear scanner in [mm] in negative x-direction -RearScannerDeltaX = -465 -// Distance of the Platform center to the front scanner in [mm] in negative y-direction -RearScannerDeltaY = 232 -// Angle between the Platform frame an the front scanner in [rad] -RearScannerDeltaPhi = 3.1415926536 - -// Distance of the wheel axis to the side scanner in [mm] in negative x-direction -SideScannerDeltaX = -252 -// Distance of the Platform center to the side scanner in [mm] in negative y-direction -SideScannerDeltaY = 0 -// Angle between the Platform frame an the side scanner in [rad] -SideScannerDeltaPhi = 0.0 //-0.04361 // scanner is mounted about -2.5 deg rotated againts rear scanner - - - -// Position of the wheels steering axis with respect to the platform center (in robot coordinates) in [mm] -// Wheel1 -Wheel1XPos = 228 -Wheel1YPos = 186 - -// Wheel2 -Wheel2XPos = -228 -Wheel2YPos = 134 - -// Wheel3 -Wheel3XPos = -228 -Wheel3YPos = -186 - -// Wheel4 -Wheel4XPos = 228 -Wheel4YPos = -134 - -// Height of the scan plain [mm] -HeightScanPlain = 165 - -// Radius of the wheels in [mm] -RadiusWheel = 80 - - -// ---------------------------------------------------------------------- -// Constraining Parameters of the implemented motors and drives -// ---------------------------------------------------------------------- -[DrivePrms] - -// Maximum Rotational Rate for the Drive Wheels [rad/s] -MaxDriveRate = 12.267; - -// Maximum Rotational Rate for Steering Motion of the wheels [rad/s] -MaxSteerRate = 24.4; - -// Coupling of Steer and Drive Motors of the Wheels (DriveVelo [rad/s] = SteerVelo [rad/s] * couplingRate) -// sign gives direction : -0.5 means if direction of wheel changes by 180° position of drive wheel changes by -90° -Wheel1SteerDriveCoupling = 0.0; -Wheel2SteerDriveCoupling = 0.0; -Wheel3SteerDriveCoupling = 0.0; -Wheel4SteerDriveCoupling = 0.0; - -// Orientation of Wheels after beeing homed -// in Degrees (Double-Value) -Wheel1NeutralPosition = -180.0; -Wheel2NeutralPosition = -180.0; -Wheel3NeutralPosition = 0.0; -Wheel4NeutralPosition = 0.0; - -HomingVelocityRadS = -1.0 - - -// ---------------------------------------------------------------------- -// Configuration of the platform position after startup -// ---------------------------------------------------------------------- -[Startup] -// Load map on start up -LoadMapOnStartup = true - -// Load roadmap on start up -LoadRoadmapOnStartup = true - -// Load program on start up -LoadProgramOnStartup = true - -// Init platform on start up -InitPlatformOnStartup = true - -//Navigation Mode on start up -// 0 - navigation on map data -// 1 - navigation on map collection data (navigation with submaps) -NavigationMode = 0 - -// Selftest enabled? -SelftestOnStartup = false - -// Position for selftest -SelftestPosX = -10000 -SelftestPosY = -22000 -SelftestPosA = 3.14 - -// Start program on start up -StartProgramOnStartup = false - -// Load startup position from file -LoadStartupPosFromFile = true - -// Interval in sec. to write robot position to startup file (0.05 .. n). -// -1 means do not write position cyclically (only when shutting down the program) -IntervalWritePosS = -1 - - - -// ---------------------------------------------------------------------- -// Configuration of the shutdown procedure -// ---------------------------------------------------------------------- -[Shutdown] -// Shutdown position -ShutdownPosX = -11500 -ShutdownPosY = -23000 -ShutdownPosA = 3.14 - -SwitchOffAtShutdown = false; - -// ---------------------------------------------------------------------- -// Configuration relating the simulation -// ---------------------------------------------------------------------- -[Simulation] - -// Enables simulation of the platform -SimuEnable = false - -// True: Online simulation is active. -// False: Post processing. The sensor data is read from a log file -SimuModeOnlineEnabled = true - -// Enables the logging of all sensor datas for post processing -LogForPostProcessEnabled = true - -// Enables 3D-navigation. -Nav3DEnabled = false - -// moveable obstacles in simulation -MouseObstaclesEnabled = false - -// random obstacles in simulation -RndObstaclesEnabled = false - -// ---------------------------------------------------------------------- -// Selection of the hardware components -// ---------------------------------------------------------------------- -[Config] - -// 1: IOBoard is available, 0: no IOBoard -IOBoard = 0 - -// 1: USBoard is available. 0: No IO-board -USBoard = 0 - -// 1: GyroBoard is available, 0: no Gyroboard -GyroBoard = 0 - -// 1: RadarBoard is available, 0: no Radarboard -RadarBoard = 0 - -// 1: RelayBoard is available, 0: no Relayboard -RelayBoard = 1 -RelayBoardCom = "/dev/ttyUSB2"; - -//cpc-pk: This is necessary to have configurations like COB3_5 with less wheels -NumberOfMotors = 8; -NumberOfWheels = 4; - -// 0: no motor -// 1: motor of the type neo -// 2: motor of the type ham -Wheel1DriveMotor = 2; -Wheel1SteerMotor = 2; -Wheel2DriveMotor = 2; -Wheel2SteerMotor = 2; -Wheel3DriveMotor = 2; -Wheel3SteerMotor = 2; -Wheel4DriveMotor = 2; -Wheel4SteerMotor = 2; - -// 1: drive for moving a head is available. 0: no drive -HeadDrive = 0 -HeadDriveDegToInc = 144.44 // 26 * 2000 / 360 -HeadDrivePosOffsetDeg = 156; -HeadDriveCom = "COM1" // Linux: "/dev/ttyS0"; - -// 1: text to speech prozessor/sound output is available. 0: no sounds -TextToSpeech = 0 - -// Socket port listining for a GUI application -SockPortToPltfGUI = 10000 - -// Socket port listining for an application -SockPortToPltfApp = 10002 - -// Buffer length for can communication -GenericBufferLen = 512 - -// Platform hardware type -// 0: neobotix platform -// 1: care-o-bot platform -// 2: mimro platform -// 3: care-o-bot 3 platform (omnidirectional) -PltfHardwareType = 3 - -// ---------------------------------------------------------------------- -// Configuration of the thread cycle times in [s] -// ---------------------------------------------------------------------- -[Thread] - -ThrMotionCycleTimeS = 0.1 //0.035 //0.03 -ThrAppCycleTimeS = 0.3 -ThrComGUICycleTimeS = 0.1 -ThrComMobileArmCycleTimeS = 0.1 -ThrPlannerCycleTimeS = 0.1 -ThrLocalizationCycleTimeS = 0.2 -ThrUCarrCycleTimeS = 0.02 //0.035 -UseThreadSynchronization = true // Use thread synchronization between communication and motion threads. - -// true sets the prioritiy of ThreadMotionControl very low. Use only for debugging. -// false: default -LowThreadPriorityEnabled = false - -// ---------------------------------------------------------------------- -// Configuration of the scanner -// ---------------------------------------------------------------------- -[Scanner] - -// true: front scanner is available -ScannerFront = true - -// Type of the front scanner -// 0: No scanner -// 1: Sick LMS -// 2: Sick S3000 -// 3: Sick S300 -// 4: Hokuyo URG LX04 -// 5: Dummy scanner -ScannerFrontType = 3 - -// ScanRate determines the cycle time for reading -// data from scanner (attention: effective Time -// should be greater than 100ms) -// effectiveTime = ThrMotionCycleTimeS * ScanRate -ScanRate = 2; - -// Device name for front scanner -// In windows: "COMX": in windows -// In linux: -// "/dev/ttyS0" (COM1) -// "/dev/ttyS1" (COM2) -// "/dev/ttyUSB0" (COM3) -// "/dev/ttyUSB1" (COM4) -// "/dev/ttyUSB2" (COM5) -DeviceNameScannerFront = "/dev/ttyUSB0" - - -// true: rear scanner is available -ScannerRear = true - -// Type of the rear scanner -// 0: No scanner -// 1: Sick LMS -// 2: Sick S3000 -// 3: Sick S300 -// 4: Hokuyo URG LX04 -// 5: Dummy scanner -ScannerRearType = 3 - -// Device name for rear scanner -DeviceNameScannerRear = "/dev/ttyUSB1" - -// Is the scanner build in upside down? -ScannerUpsideDown = true - -// true: side scanner is available -ScannerSide = true - -// Type of the side scanner -// 0: No scanner -// 1: Sick LMS -// 2: Sick S3000 -// 3: Sick S300 -// 4: Hokuyo URG LX04 -// 5: Dummy scanner -ScannerSideType = 4 - -// Device name for side scanner -DeviceNameScannerSide = "/dev/ttyACM0" - -// Division of the scanner field -StartSideLeftField = 20 //50 -EndSideLeftField = 220 //225 -StartSideMainField = 220 //225 -EndSideMainField = 470 -StartSideRightField = 470 -EndSideRightField = 670 //642 //620 //682 //240 - -// Type of the serial adapter for connection the scanner -// 0: MoxaISA card (spezific factor for the baud rate) -// 1: MoxaPCI card (spezific factor for the baud rate) -// 2: Care-o-bot card -// 3: Standard (factor of one for the baud rate) -TypeSerialCard = 3 - -// Division of the scanner field -StartRightField = 115 //110 //0 -EndRightField = 115 //110 -StartMainField = 115 //110 -EndMainField = 426 //431 -StartLeftField = 426 //431 -EndLeftField = 426 //431 //541 //359 - - -// ---------------------------------------------------------------------- -// Configuration of the collision avoidance -// ---------------------------------------------------------------------- -[Collision] - -// for omnidirectional Planner (PlannerCellDec, PlannerBand, PlannerPRM) -// Minimum distance to an obstacle in x-Direction of the robot in [mm] -PltfLengthDistMM = 50.0; - -// Minimum distance to an obstacle in y-Direction of the robot in [mm] -PltfWidthDistMM = 50.0; -// end for omnidirectional Planner - -// Minimum distance to an obstacle in [mm] -MinDistMM = 450.0; - -// Maximum deceleration of the platform in front of an obstacle [mm/s*s] -MaxDecelMMS = 80.0; - -// Obstacles in a greater distance have no effect to the velocity [mm] -MaxReactDistMM = 2000.0; - -// Enables low barrier detection -LowBarrierDetectEnabled = false - -// Enables collision detection with ultrasonic sensors -CollisionUSEnabled = false - -// number of US sensors used for collision detection -NumUS = 0 - -// Enables collision detection with infrared sensors -CollisionInfraEnabled = false - -// Enables backward move in front of a very close obstacle -BwdMoveEnabled = false - -// Maximal depth of a gap for crossing [mm] -MaxGapDepth = 20 - -// Maximal height of a low barrier [mm] -MaxBarrierHeight = 20 - - -// ---------------------------------------------------------------------- -// Miscellaneous parameters -// ---------------------------------------------------------------------- -[Misc] - -// Watchdog time in [s]. After the watchdog time has expired the velocity is set to zero. -// The watchdog is only active in the velocity mode. -CmdMoveVelWatchdogTimeS = 0.6 - -// Default configuration of the planning in the automatic mode -DefaultPlanningEnabled = true - -// Enables writing measured and commanded values to log file for creating time plots. -LogOfTimePlotEnabled = false - -// Enables interpolation from the current position, if the position error is too large. -LostTrackEnabled = true - -// Enables stopping, if the position error is too large. In the mode planning an new path will be planed. -StopOnLostTrackEnabled = false - -// Host to Send Localizationdata -LocalizationDataHost = "129.233.125.145" - -// Port to send Localizationdata -LocalizationDataPort = 1424 - -// Host to Send SyncMM Data -SyncMMDataHost = "127.0.0.1" - -// Port to send SyncMM data -SyncMMDataSendPort = 1401 - -// Port to receive SyncMM data -SyncMMDataReceivePort = 1405 - - -// ---------------------------------------------------------------------- -// Configuration of the planner -// ---------------------------------------------------------------------- -[Planner] - -// Enables the local planner for path modification -BandEnable = true - -// Weight for the objective function of the local planner -BandWeightLen= 0.3 //1.0e-3 - -// Weight for the objective function of the local planner -BandWeightCurv= 0.5e5 - -// Number of iterations for minimizing the objective function of the local planner -BandNumIterations = 5 - -// Optimization parameter -BandSearchLenMM = 1000.0 - -// Optimizatin parameter -BandSearchStepMM = 10.0 - -// Update rate of the local planner -BandUpdateRateS = 0.2 - -// Tolerance of the objective value -BandObjValTol = 2.0 - -// Distance of two sample points of the path -BandSampleDistMM = 300 - -// Time to wait in front of an obstacle before starting global planning -CollisionWaitTimeS = 1 - -//use omnidirectional planning algorithm -UseOmnidirectionalPlanner = true - -// ---------------------------------------------------------------------- -// File names -// ---------------------------------------------------------------------- -[Files] - -// File name of the map stored on the platform -FileNameMap = "Platform/Map/andersrum.map" - -// File name of the map collection stored on the platform -FileNameMapCollection = "Platform/Mapcollection/PltfMap.mc" - -// File name of the roadmap stord on the platform -FileNameRoadmap = "Platform/Roadmap/PltfRoadmap.rm" - -// File name of the program on the platform -FileNameProgram = "Platform/Program/PltfProgram.prog" - -// Sound to be played at startup -FileNameStartSound = "Start.wav" - -// ---------------------------------------------------------------------- -// Configuration of the localization -// ---------------------------------------------------------------------- -[Localization] - -// Method of the localization -// 0: DeadReckoning -// 1: Reflector -// 2: Line segments -// 3: Hypotheses reflector -// 4: Hypotheses line segments -// 5: Reflector and Line -// 6: Slam reflector version 1 -// 7: Slam segments version 1 -// 8: localize relative -// 9: 3D slam -// 10: edit slam segment -// 11: slam grid map -// 12: graph slam segments -// 13: hypo slam segments -// 14: edit scan map -// 15: global localization with segments -// 16: hypo slam general feature -// 17: global localization with general feature -// 18: graph slam -// 19: Robust localization with general feature -// 20: Global localization with general feature second version -// Its recommended to use the mode 5. The other modes are under development. -LocalizationMode = 5 - - -// Method for mapping -// 0: Disabled -// 1: Reflector -// 2: Line segments -// 3: Lines and reflectors -// The mapping modes are under development. -MappingMode = 0 - -// Initial values of the diagonal elements in the covariance matrix -// [mm] -ErrX= 1000.0 -// [mm] -ErrY= 1000.0 -// [deg] -ErrADeg= 0.5 - -// Minimum values of the dialog elements in the covariance matrix -// Used to avoid freezing. -// [mm] -MinErrX = 1.0 -// [mm] -MinErrY = 1.0 -// [deg] -MinErrADeg= 0.2 - -// Error of dead reckoning -// [6.2 MM per sqrt(MM)] = [0.2 m per sqrt(m)] groth in robot forward direction -ErrXPerMM = 1.2 -// [1.55 MM per sqrt(MM)] = [0.05 m per sqrt(m)] growth in robot sideways direction -ErrYPerMM = 0.55 -// gyro drift in degree per hour -ErrADegPerH= 5 - -// Measurement covariance of the laser scan [mm*mm] -MeasCovLen = 10 - -// Enables gyro for localization -// 0: do not use gyro for localization -// 1: use gyro with error model for error compensation -// 2: use gyro without error compensation -LocWithGyroMode = 0 - -// Enables additional smoothing filter -LocSmoothFilterEnabled = false - -// Distance of the reference frames while slam [mm] -SlamRefFrmDist = 1500 - -// Size of a submap while slam. [mm] -// The submap is a quadrat. The radius of the interier circle is given. -SlamSubmapSize = 20000 - -// A feature is removed from a local map after the robot moved -// a given distance [mm] -MaxTravelDistForDelFeat = 10000 - -// The local map is matched with the global map after the robot moved -// the given distance [mm] -TravelDistForGlobalLoc = 2000 - -// Minimum significance of a match for a confidence check. -MinSigOfMatchForConf = 0.95 - -// Maximum measure distance for the scanner [mm] -MaxMeasDist = 20000 - -// Maximum measure distance for the scanner [mm] -MaxSideMeasDist = 20000 - -// Selection of the features used for localization and mapping - -// Enables segment features -FeatSegEnabled = true - -// Enables reflector features -FeatReflEnabled = true - -// Enables small cluster features -FeatSmallClusterEnabled = true - -// Enables circle features -FeatCircleEnabled = true - -// Linear error model for dead reckoning -// corr_delta_trans = a0 * delta_trans + a1 * delta_ang -// corr_delta_ang = a2 * delta_trans + a3 * delta ang -DeadReckErrModelEnabled = false -DeadReckErrModelA0 = 0.987175 -DeadReckErrModelA1 = -1.81456 -DeadReckErrModelA2 = 7.89e-6 -DeadReckErrModelA3 = 0.99629 - -// Association gates for segments -AssSegMaxDist = 100 -AssSegMaxAng = 0.5 - -// Association gate for reflector -AssReflMaxDist = 100 - -// Association gate for small cluster -AssSmallClusterMaxDist = 100 - -// Association gate for circle -AssCircleMaxDist = 100 - -// Maximum change of the robot pose while global localization -MaxRobJumpOnGlobalLocDist = 300 -MaxRobJumpOnGlobalLocAng = 0.2 - -// Circle fit parameters -CircleFitMinNumPoints = 15 -CircleFitFracObserved = 0.4 -CircleFitMaxVarianz = 100 - -// Association to become a validated feature while mapping -NumAssForBecomeValidatedSeg = 20 -NumAssForBecomeValidatedRefl = 20 -NumAssForBecomeValidatedSmallCluster = 20 -NumAssForBecomeValidatedCircle = 3 - -// Number of rejection needed to remove a feature from an old map -NumRejForRemove = 2 - - -// ---------------------------------------------------------------------- -// Log -// ---------------------------------------------------------------------- -[Log] - -// Logging of the first debug level to the console enabled -LogLevel1ConsoleEnabled = true - -// Logging of the first debug level to a file enabled -LogLevel1FileEnabled = false - -// Logging of the second debug level to the console enabled -LogLevel2ConsoleEnabled = true - -// Logging of the second debug level to a file enabled -LogLevel2FileEnabled = false - -// Logging of the user program to the console enabled -LogProgConsoleEnabled = true - -// Logging of the user program to a file enabled -LogProgFileEnabled = false - -// Logging of localization to the console enabled -LogLocConsoleEnabled = true - -// Logging of localization to a file enabled -LogLocFileEnabled = false - -// Logging of measured execution and cycle times -LogThreadTimesEnabled = false - - -// ---------------------------------------------------------------------- -// Joystick -// ---------------------------------------------------------------------- -[Joystick] - -// Define Joystick Type: -// 0: None -// 1: Logitech Rumblepad -// 2: Sony Playstation Controller Dualshock 3 Sixaxis -Type = 1 - -// Define number of Input Device -// default: 0 = /dev/input/js0 -InputDev = 0 - -// Mapping of longitudinal velocity to the joystick axis -AxisLongVel = 1 - -// Mapping of lateral velocity to the joystick axis -AxisLatVel = 0 - -// Mapping of rotation velocity to the joystick axis -AxisRotVel = 2 - -// Set maximum allowed translational velocity in mm/s -VelTransMax = 500 //250 //520 - -// Set maximum allowed rotational velocity in rad/s -VelRotMax = 1.0 //0.5 //1.0 - -// Switch to enable (true) or disable (false) the lowpass of the joystick -LowPassEnabled = true - -// Smoothing-Value of Lowpass in seconds -SmoothingVal = 0.15 - -// ---------------------------------------------------------------------- -// GyroLitef -// ---------------------------------------------------------------------- -[GyroLitef] - -// use gyro? -UseGyro = false - -// 0: AUTONOMOUS -// 1: SW_REQUEST -CommunicationMode = 0 - -// 0: DELTA_ANG -// 1: ACCUMULATED_ANG -AngleType = 0 - -ComPort = "/dev/ttyM0" -//ComPort = "/dev/ttyM8" -//ComPort = "/dev/ttyUSB0" - -Baudrate = 9600 -Multiplier = 1.0 -//Multiplier = 0.9216 -StartAngle = 0.0 -ScalingFactor = 1.0 -MaxAngle = 5.0 -ResetGyroAngle = 600.0 -DriftDegPerHour = 2.6 -GyroCycTime = 0.1 - -ZeroGyroEnabled = true -LogDriftRateEnabled = false -SlideMeanFacForDriftRate = 3.3e-4 - diff --git a/cob_hardware_config/robots/raw3-3/config/base/PltfIdent.ini b/cob_hardware_config/robots/raw3-3/config/base/PltfIdent.ini deleted file mode 100644 index d38a0f906..000000000 --- a/cob_hardware_config/robots/raw3-3/config/base/PltfIdent.ini +++ /dev/null @@ -1,65 +0,0 @@ -// ----------------------------------------------------------------------------- -// Configuration for Identification and recording data of dynamic platform model -// ----------------------------------------------------------------------------- -// (Used in IPA/Drivers/UnderCarriage/UndercarriageIdentification.h *.cpp) - - -// This parameters will be used for recording the step function response of the -// selected motors; In this mode the received CAN-Signals will be saved to a File -// ATTENTION: =====> Robot will move! <====== -// in Mode IdentSteers, only Steers will move! -> jack up robot! -[Identification] -Mode = "Off"; // Off || IdentDrives || IdentSteers -SpeedRadS = 6; // Amplitude of the step function - - -// This parameters will be used to configure the internal elmo recorder -// and to perfom some movements of the platform at the beginning -// CAUTION robot will move without localization -// Recorded Signals: Steer: Position, Active-Current -// Drives: Velocity, Active-Current -[Recorder] -RecorderActive = false; // Turn on/off -UseSynch = false; // Synchronize Recording with other PC -SynchName = "129.233.118.104"; // IP-Adress -SynchPort = 10007; // UDP-Socket Port (has to be consistent with other PC) -RecordingGap = 7; // will determin the resolution and the total time recorded - // Tges = (4096 / NoOfSignals )* 90us * 4 * RecordingGap - // RecordingGap for Steers will be calculated seperately to match Tges - -// Define type of movements according to Method PltfHardwareCoB3::SetVelPltf() -// Duration: Time how long movement will be performed (in Seconds) -// All Values are doubles -[Movement] -NoOfMovements = 2; // Number of Movements; each Movement has to be defined below - -[Movement1] -VelLongMMS = 0; -VelLatMMS = 200; -RotRobRadS = 0; -DurationS = 3; - -[Movement2] -VelLongMMS = 200; -VelLatMMS = 0; -RotRobRadS = 0; -DurationS = 3; - -[Movement3] -VelLongMMS = 100; -VelLatMMS = 100; -RotRobRadS = 0; -DurationS = 3; - -[Movement4] -VelLongMMS = 0; -VelLatMMS = 0; -RotRobRadS = 0; -DurationS = 3; - -[Movement5] -VelLongMMS = -100; -VelLatMMS = 0; -RotRobRadS = 0; -DurationS = 3; - diff --git a/cob_hardware_config/robots/raw3-3/config/cameras/parameters_left.yaml b/cob_hardware_config/robots/raw3-3/config/cameras/parameters_left.yaml deleted file mode 100644 index da7c327eb..000000000 --- a/cob_hardware_config/robots/raw3-3/config/cameras/parameters_left.yaml +++ /dev/null @@ -1,15 +0,0 @@ -auto_exposure: True -exposure_auto_max: 25000 -exposure_auto_target: 40 -exposure: 0.009 -auto_gain: True -gain_auto_target: 40 -gain: 1 -auto_whitebalance: True -frame_id: /head_color_camera_l_link -stream_bytes_per_second: 55000000 -auto_adjust_stream_bytes_per_second: False -trigger_mode: syncin1 -packet_size: 9000 -trig_rate: 1 -ip_address: 192.168.0.14 diff --git a/cob_hardware_config/robots/raw3-3/config/cameras/parameters_right.yaml b/cob_hardware_config/robots/raw3-3/config/cameras/parameters_right.yaml deleted file mode 100644 index 01a000d72..000000000 --- a/cob_hardware_config/robots/raw3-3/config/cameras/parameters_right.yaml +++ /dev/null @@ -1,14 +0,0 @@ -auto_exposure: True -exposure_auto_max: 25000 -exposure_auto_target: 40 -exposure: 0.009 -auto_gain: True -gain_auto_target: 40 -gain: 1 -auto_whitebalance: True -frame_id: /head_color_camera_r_link -stream_bytes_per_second: 54000000 -auto_adjust_stream_bytes_per_second: False -trigger_mode: streaming -packet_size: 9000 -ip_address: 192.168.0.12 diff --git a/cob_hardware_config/robots/raw3-3/config/pc_monitor_raw3-3-pc1.yaml b/cob_hardware_config/robots/raw3-3/config/pc_monitor_raw3-3-pc1.yaml index 0fbe33d36..6676b5036 100644 --- a/cob_hardware_config/robots/raw3-3/config/pc_monitor_raw3-3-pc1.yaml +++ b/cob_hardware_config/robots/raw3-3/config/pc_monitor_raw3-3-pc1.yaml @@ -1,4 +1,4 @@ check_core_temps: False check_ipmi_tool: False enforce_clock_speed: False -num_cores: 4 +num_cores: 8 diff --git a/cob_hardware_config/robots/raw3-3/config/torso_controller.yaml b/cob_hardware_config/robots/raw3-3/config/torso_controller.yaml deleted file mode 100644 index 4cda34e19..000000000 --- a/cob_hardware_config/robots/raw3-3/config/torso_controller.yaml +++ /dev/null @@ -1,11 +0,0 @@ -#all -joint_names: [head_powerball_bottom_joint, head_powerball_side_joint] - -# trajectory controller parameters -ptp_vel: 1.0 # rad/sec -ptp_acc: 0.2 # rad/sec^2 -max_error: 0.25 # rad -overlap_time: 0.4 -frequency: 68 -operation_mode: velocity - diff --git a/cob_hardware_config/robots/raw3-3/config/torso_driver.yaml b/cob_hardware_config/robots/raw3-3/config/torso_driver.yaml deleted file mode 100644 index 6b8b0c588..000000000 --- a/cob_hardware_config/robots/raw3-3/config/torso_driver.yaml +++ /dev/null @@ -1,9 +0,0 @@ -device: /dev/pcan1 -baudrate: 500K -sync_interval: 10 -chains: ["torso_controller"] -torso_controller: - joint_names: [head_powerball_bottom_joint, head_powerball_side_joint] - motor_direction: [1, 1] - module_ids: [7, 8] -