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raw3 3 canopen #661

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merged 7 commits into from
May 8, 2017
Merged

raw3 3 canopen #661

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96dc960
cleanup files
fmessmer Apr 26, 2017
f17bc37
canopen config for raw3-3 base
fmessmer Apr 26, 2017
10ff311
final cleanup
fmessmer Apr 26, 2017
61321ad
steer_ctrl param handling
fmessmer Apr 27, 2017
a6458f2
added reset_errors_before_recovery_parameter from ros_canopen
ipa-raw3-3 May 3, 2017
aae91c3
invert right wheels and change ordering of config (needed after retun…
ipa-raw3-3 May 3, 2017
3ff2c39
finalize
ipa-raw3-3 May 8, 2017
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2 changes: 1 addition & 1 deletion cob_bringup/components/raw3_base.launch
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Expand Up @@ -14,7 +14,7 @@
<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
<arg name="driver_yaml" value="$(arg driver_yaml)"/>
<arg name="controller_yaml" value="$(arg controller_yaml)"/>

<arg name="reset_errors_before_recover" value="true"/>
<arg name="can_device" value="$(arg can_device)"/>

<arg name="sim" value="$(arg sim)"/>
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4 changes: 3 additions & 1 deletion cob_bringup/components/ros_control_base.launch
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Expand Up @@ -7,21 +7,23 @@
<arg name="can_device" default="can0"/>
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
<arg name="sim" default="false"/>
<arg name="reset_errors_before_recover" default="false"/>

<arg name="component_name" value="base"/>
<arg name="interval_ms" value="20"/>
<arg name="use_external_sync" value="false"/>
<arg name="start_external_sync" value="false"/>

<rosparam unless="$(arg sim)" ns="$(arg component_name)/driver" command="load" file="$(arg driver_yaml)"/>
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This is the right place, I don't know why it was below beforehand.
It might break other robots with outdated configs..

<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/canopen_402.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="$(arg component_name)"/>
<arg name="can_device" value="$(arg can_device)"/>
<arg name="interval_ms" value="$(arg interval_ms)"/>
<arg name="use_external_sync" value="$(arg use_external_sync)"/>
<arg name="start_external_sync" value="$(arg start_external_sync)"/>
<arg name="reset_errors_before_recover" value="$(arg reset_errors_before_recover)"/>
</include>
<rosparam unless="$(arg sim)" ns="$(arg component_name)/driver" command="load" file="$(arg driver_yaml)"/>

<include unless="$(arg sim)" file="$(find cob_omni_drive_controller)/launch/stuck_detector.launch">
<arg name="timeout" default="2.0"/>
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2 changes: 2 additions & 0 deletions cob_bringup/drivers/canopen_402.launch
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Expand Up @@ -9,6 +9,7 @@
<arg name="overflow" default="0"/>
<arg name="use_external_sync"/>
<arg name="start_external_sync"/>
<arg name="reset_errors_before_recover" default="false"/>

<!-- start external sync node if requested -->
<node ns="$(arg component_name)" pkg="canopen_chain_node" type="canopen_sync_node" name="sync_$(arg can_device)" output="screen" if="$(arg start_external_sync)">
Expand All @@ -21,6 +22,7 @@
<rosparam subst_value="True">{bus: { device: $(arg can_device) } }</rosparam>
<rosparam subst_value="True" if="$(arg use_external_sync)">{sync: { interval_ms: $(arg interval_ms), overflow: $(arg overflow) } }</rosparam>
<param name="bus/master_allocator" value="canopen::ExternalMaster::Allocator" if="$(arg use_external_sync)"/>
<param name="reset_errors_before_recover" value="$(arg reset_errors_before_recover)"/>
</node>

</launch>
1 change: 0 additions & 1 deletion cob_bringup/robots/raw3-3.launch
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Expand Up @@ -6,7 +6,6 @@
<include file="$(find cob_bringup)/robots/raw3-3.xml">
<arg name="pc1" value="raw3-3-pc1"/>
<arg name="pc2" value="raw3-3-pc2"/>
<arg name="pc3" value="raw3-3-pc3"/>
<arg name="env-script" value="$(arg env-script)"/>
</include>

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16 changes: 7 additions & 9 deletions cob_bringup/robots/raw3-3.xml
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Expand Up @@ -6,7 +6,6 @@
<arg name="use_rplidar" default="false"/>
<arg name="pc1" default="localhost"/>
<arg name="pc2" default="localhost"/>
<arg name="pc3" default="localhost"/>
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
<arg name="sim" default="false"/>

Expand All @@ -24,6 +23,10 @@

<!-- 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>
Expand All @@ -46,16 +49,11 @@
<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" />
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can0 is the default

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@fmessmer fmessmer May 8, 2017 •
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but the argument is required...

<arg name="sim" value="$(arg sim)"/>
</include>
<!--include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="torso"/>
<arg name="can_device" value="can1"/>
<arg name="sim" value="$(arg sim)"/>
</include-->

<!-- start common nodes used in hardware and simulation -->
<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
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2 changes: 2 additions & 0 deletions cob_bringup/robots/raw3-5.xml
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Expand Up @@ -60,6 +60,8 @@
<arg name="can_device" value="can1" />
<arg name="sim" value="$(arg sim)"/>
</include>
<!-- overwrite control parameters with non-default values -->
<rosparam ns="base" command="load" file="$(find cob_hardware_config)/robots/$(arg robot)/config/base_controller.yaml"/>

<!-- start additional packages -->
<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch" >
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7 changes: 0 additions & 7 deletions cob_default_robot_config/robots/raw3-3/script_server/torso_joint_configurations.yaml
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This file was deleted.

1 change: 0 additions & 1 deletion cob_default_robot_config/robots/raw3-3/upload_param_raw3-3.launch
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Expand Up @@ -3,7 +3,6 @@

<!-- send ROBOT parameters to parameter server -->
<rosparam command="load" ns="/script_server/base" file="$(find cob_default_robot_config)/robots/raw3-3/script_server/base_configurations.yaml"/>
<rosparam command="load" ns="/script_server/torso" file="$(find cob_default_robot_config)/robots/raw3-3/script_server/torso_joint_configurations.yaml"/>
<rosparam command="load" ns="/script_server/light" file="$(find cob_default_robot_config)/robots/raw3-3/script_server/light_configurations.yaml"/>

</launch>
4 changes: 2 additions & 2 deletions cob_hardware_config/robots/common/cob4_base_controller.yaml
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Expand Up @@ -3,8 +3,8 @@ joint_names: [fl_caster_rotation_joint, fl_caster_r_wheel_joint, fr_caster_rotat

## joint_state_controller
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
type: joint_state_controller/JointStateController
publish_rate: 50

## twist_controller
twist_controller:
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24 changes: 10 additions & 14 deletions cob_hardware_config/robots/common/raw3_base_controller.yaml
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Expand Up @@ -16,30 +16,26 @@ twist_controller:
timeout: 0.5

defaults: # default settings for all wheels, can per overwritten per wheel
# wheel_radius: 0.080 # Radius of the wheels in [m]
# wheel_offset: 0 # Distance of the wheels steering axis to the wheel center in [m], read from URDF is not specified
# steer_drive_coupling: 0.0
# steer_neutral_position: 0.0 # [deg]
steer_ctrl: # Parameters for tuning Impedance-Controller
spring: 9.5
damp: 2.25
spring: 15.0
damp: 2.75
virt_mass: 0.1
d_phi_max: 12.0 #100.0
dd_phi_max: 40.0 #100.0
wheels: &wheels
d_phi_max: 12.0
dd_phi_max: 40.0

wheels: &wheels # start front left, counter-clockwise for base_drive_chain compatibility
- 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
odometry_controller:
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15 changes: 6 additions & 9 deletions cob_hardware_config/robots/raw3-1/config/base_controller.yaml
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Expand Up @@ -12,16 +12,13 @@ twist_controller:
publish_rate: 50

defaults: # default settings for all wheels, can per overwritten per wheel
# wheel_radius: 0.080 # Radius of the wheels in [m]
# wheel_offset: 0 # Distance of the wheels steering axis to the wheel center in [m], read from URDF is not specified
# steer_drive_coupling: 0.0
# steer_neutral_position: 0.0 # [deg]
steer_ctrl: # Parameters for tuning Impedance-Controller
spring: 15.0 #10.0
damp: 2.75 #2.5
virt_mass: 0.1 #0.1
d_phi_max: 12.0 #100.0
dd_phi_max: 40.0 #100.0
spring: 15.0
damp: 2.75
virt_mass: 0.1
d_phi_max: 12.0
dd_phi_max: 40.0

wheels: &wheels
- steer: fl_caster_rotation_joint
drive: fl_caster_r_wheel_joint
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