change hardware interface port and namespace

pa10_hardware_interface/config/real_controllers_ns.yaml

@@ -0,0 +1,47 @@
+joint_names: [S1,S2,E1,E2,W1,W2,W3,finger_joint_1,finger_joint_2]
+
+pa10:
+# Publish all joint states -----------------------------------
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+
+# Position Controllers ---------------------------------------
+arm_controller:
+  #type: position_controllers/JointGroupPositionController
+  type: "velocity_controllers/JointTrajectoryController"
+  #type: "position_controllers/JointTrajectoryController"
+  #type: "effort_controllers/JointTrajectoryController"
+
+  joints:
+     - S1
+     - S2
+     - E1
+     - E2
+     - W1
+     - W2
+     - W3
+  gains: 
+     S1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5}
+     S2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5}
+     E1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5}
+     E2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5}
+     W1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5}
+     W2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5}
+     W3: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5}
+
+  constraints:
+     goal_time: 0.5                    # Override default
+     state_publish_rate:  50            # Override default
+     action_monitor_rate: 20            # Override default
+     stop_trajectory_duration: 0 # Override default
+
+gripper_controller:
+  #type: "position_controllers/JointTrajectoryController"
+  type: "velocity_controllers/JointTrajectoryController"
+  joints:
+     - finger_joint_1
+     - finger_joint_2
+  gains:  
+     finger_joint_1: &gripper_finger_gains {p: 1.0, d: 0.05, i: 0.1, i_clamp: 1.0}
+     finger_joint_2: *gripper_finger_gains

pa10_hardware_interface/launch/pa10_controller_spawner.launch

@@ -1,31 +1,48 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-	<!--<rosparam file="$(find pa10_hardware_interface)/config/joint_names.yaml" command="load"/> -->
-	<!--<rosparam file="$(find pa10_hardware_interface)/config/pids.yaml" command="load"/>-->
-	<rosparam file="$(find pa10_hardware_interface)/config/real_controllers.yaml" command="load"/>
-
-
+
+    <!-- If multiple robots set multiple=true and define the namespace -->
+    <arg name="robot_name" default="pa10"/>
+    <arg name="multiple" default="true"/>
+    <arg name="multi" value="multiple:=$(arg multiple) namespace:=$(arg robot_name)"/>
+
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="robot_description_semantic" textfile="$(find pa10_moveit_config)/config/pa10.srdf" />
-  <rosparam command="load" file="$(find pa10_moveit_config)/config/kinematics.yaml"/>
+  <param name="/$(arg robot_name)/robot_description_semantic" textfile="$(find pa10_moveit_config)/config/pa10.srdf" />
+  <rosparam command="load" file="$(find pa10_moveit_config)/config/kinematics.yaml" ns="/$(arg robot_name)"/>
 
-	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find pa10_description)/urdf/pa10_csl.urdf.xacro'"/>
-  <!-- load the controllers -->
+  	<rosparam file="$(find pa10_hardware_interface)/config/real_controllers.yaml" command="load" ns="/$(arg robot_name)"/>
+
+	<param name="/$(arg robot_name)/robot_description" command="$(find xacro)/xacro --inorder '$(find pa10_description)/urdf/pa10_csl.urdf.xacro' $(arg multi)"/>
 
-	<node name="pa10_hardware_interface" pkg="pa10_hardware_interface" type="pa10_hardware_interface_node" output="screen"/>
+  <!-- load the controllers -->
+	<node name="pa10_hardware_interface" pkg="pa10_hardware_interface" type="pa10_hardware_interface_node" ns="/$(arg robot_name)"/>
 
   <node name="pa10_trajectory_controller" pkg="controller_manager" type="spawner" respawn="false"
     output="screen" args="
+      --namespace=/$(arg robot_name)
       joint_state_controller 
       arm_controller
       gripper_controller "/>
 
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
-  <!-- Publish joint states for all the joints -->
+
+      <node pkg="tf" type="static_transform_publisher" name="$(arg robot_name)_bc" args="0.0 0.0 0.0 0.0 0.0 0.0 /world $(arg robot_name)/world 100"/>
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="state_publisher" name="$(arg robot_name)_state_publisher">
+            <param name="publish_frequency" type="double" value="50.0"/>
+            <param name="tf_prefix" type="string" value="$(arg robot_name)"/>
+            <remap from="robot_description" to="$(arg robot_name)/robot_description" />
+            <remap from="joint_states" to="$(arg robot_name)/joint_states" />
+  </node>
 
-  <!--<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam param="/source_list">[/joint_states]</rosparam>
-    <param name="use_gui" value="false"/>
-	</node>-->
+  <!-- Use MoveIt -->
+        <group ns="$(arg robot_name)">
+            <!-- Launch MoveIt -->
+            <include file="$(find pa10_moveit_config)/launch/pa10_moveit.launch">
+                <arg name="rviz" value="true" />
+                <arg name="camera" value="false"/>
+            </include>
+        </group>
+
 </launch>
 

pa10_hardware_interface/scripts/pa10_hardware_interface.cpp

@@ -139,7 +139,8 @@ class pa10 : public hardware_interface::RobotHW
      host_info.ai_family = AF_UNSPEC;     // IP version not specified. Can be both.
      host_info.ai_socktype = SOCK_STREAM; // Use SOCK_STREAM for TCP or SOCK_DGRAM for UDP.
 
-     status = getaddrinfo("147.102.51.71", "4534", &host_info, &host_info_list);
+     //status = getaddrinfo("147.102.51.71", "4534", &host_info, &host_info_list);
+     status = getaddrinfo("192.168.1.71", "4534", &host_info, &host_info_list);
 
      if (status != 0){  
          std::cout << "getaddrinfo error" << gai_strerror(status) ;