style: cleanup code base

rickstaa · Dec 10, 2021 · ba9b922 · ba9b922
1 parent 29bb59c
commit ba9b922
Show file tree

Hide file tree

Showing 16 changed files with 253 additions and 252 deletions.
diff --git a/panda_gazebo/cfg/controllers/effort_joint_trajectory_controllers.yaml b/panda_gazebo/cfg/controllers/effort_joint_trajectory_controllers.yaml
@@ -1,6 +1,6 @@
 # Configuration file that contains the configuration values for setting up the panda
 # trajectory controllers that can control a joint effort hardware interface
-panda_arm_controller:
+effort_joint_trajectory_controller:
   type: effort_controllers/JointTrajectoryController
   joints:
     - panda_joint1
@@ -10,21 +10,21 @@ panda_arm_controller:
     - panda_joint5
     - panda_joint6
     - panda_joint7
-  constraints:
-    goal_time: 0.5
-    stopped_velocity_tolerance: 0 # Added because of wrong PID gains see #9
-    panda_joint1: { goal: 0.05 }
-    panda_joint2: { goal: 0.05 }
-    panda_joint3: { goal: 0.05 }
-    panda_joint4: { goal: 0.05 }
-    panda_joint5: { goal: 0.05 }
-    panda_joint6: { goal: 0.05 }
-    panda_joint7: { goal: 0.05 }
   gains:
     panda_joint1: { p: 600, d: 30, i: 0.0 }
     panda_joint2: { p: 600, d: 30, i: 0.0 }
     panda_joint3: { p: 600, d: 30, i: 0.0 }
     panda_joint4: { p: 600, d: 30, i: 0.0 }
     panda_joint5: { p: 250, d: 10, i: 0 }
     panda_joint6: { p: 150, d: 10, i: 0 }
-    panda_joint7: { p:  50, d:  5, i: 0 }
+    panda_joint7: { p:  50, d:  5, i: 0 }
+  constraints:
+    goal_time: 0.5
+    stopped_velocity_tolerance: 0 # Added because of wrong PID gains see #9
+    panda_joint1: { goal: 0.005 }
+    panda_joint2: { goal: 0.005 }
+    panda_joint3: { goal: 0.005 }
+    panda_joint4: { goal: 0.005 }
+    panda_joint5: { goal: 0.005 }
+    panda_joint6: { goal: 0.005 }
+    panda_joint7: { goal: 0.005 }
diff --git a/panda_gazebo/cfg/controllers/moveit_ros_control_gripper.yaml b/panda_gazebo/cfg/controllers/moveit_ros_control_gripper.yaml
@@ -20,4 +20,3 @@ move_group:
       default: true
       joints:
         - panda_finger_joint1
-        - panda_finger_joint2
diff --git a/panda_gazebo/cfg/controllers/position_joint_trajectory_controllers.yaml b/panda_gazebo/cfg/controllers/position_joint_trajectory_controllers.yaml
@@ -1,6 +1,6 @@
 # Configuration file that contains the configuration values for setting up the panda
 # trajectory controllers
-panda_arm_controller:
+position_joint_trajectory_controller:
   type: position_controllers/JointTrajectoryController
   joints:
     - panda_joint1
@@ -12,10 +12,10 @@ panda_arm_controller:
     - panda_joint7
   constraints:
     goal_time: 0.5
-    panda_joint1: { goal: 0.05 }
-    panda_joint2: { goal: 0.05 }
-    panda_joint3: { goal: 0.05 }
-    panda_joint4: { goal: 0.05 }
-    panda_joint5: { goal: 0.05 }
-    panda_joint6: { goal: 0.05 }
-    panda_joint7: { goal: 0.05 }
+    panda_joint1: { goal: 0.005 }
+    panda_joint2: { goal: 0.005 }
+    panda_joint3: { goal: 0.005 }
+    panda_joint4: { goal: 0.005 }
+    panda_joint5: { goal: 0.005 }
+    panda_joint6: { goal: 0.005 }
+    panda_joint7: { goal: 0.005 }
diff --git a/panda_gazebo/launch/load_controllers.launch b/panda_gazebo/launch/load_controllers.launch
@@ -1,37 +1,37 @@
 <!--Launch file loads the control parameters and controllers-->
 <launch>
-    <arg name="moveit" default="true" />
-    <arg name="load_gripper" default="true"/>
-    <!--Control arguments-->
-    <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
-    <arg name="control_type" default="trajectory"/>
+  <arg name="moveit" default="true" doc="Start MoveIt"/>
+  <arg name="load_gripper" default="true" doc="Load the gripper"/>
+  <!--Control arguments-->
+  <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
+  <arg name="control_type" default="trajectory" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
 
-    <!--Load control parameters-->
-    <!--    Load general Gazebo control configuration values-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/gazebo_ros_control.yaml" command="load" />
-    <!--    Load general ros_control configuration values-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/ros_control.yaml" command="load"/>
-    <!--    Load Moveit control configuration values-->
-    <rosparam if="$(eval arg('moveit') and arg('load_gripper'))" file="$(find panda_gazebo)/cfg/controllers/moveit_ros_control_gripper.yaml" command="load"/>
-    <rosparam unless="$(eval arg('moveit') and arg('load_gripper'))" file="$(find panda_gazebo)/cfg/controllers/moveit_ros_control.yaml" command="load"/>
+  <!--Load control parameters-->
+  <!--    Load general Gazebo control configuration values-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/gazebo_ros_control.yaml" command="load" />
+  <!--    Load general ros_control configuration values-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/ros_control.yaml" command="load"/>
+  <!--    Load Moveit control configuration values-->
+  <rosparam if="$(eval arg('moveit') and arg('load_gripper'))" file="$(find panda_gazebo)/cfg/controllers/moveit_ros_control_gripper.yaml" command="load"/>
+  <rosparam unless="$(eval arg('moveit') and arg('load_gripper'))" file="$(find panda_gazebo)/cfg/controllers/moveit_ros_control.yaml" command="load"/>
 
-    <!--Load controllers-->
-    <!--Joint position controllers-->
-    <group if="$(eval arg('control_type') == 'position')">
-        <include file="$(find panda_gazebo)/launch/load_joint_position_controllers.launch"/>
-        <!--Load joint_trajectory controller in stopped mode
+  <!--Load controllers-->
+  <!--Joint position controllers-->
+  <group if="$(eval arg('control_type') == 'position')">
+    <include file="$(find panda_gazebo)/launch/load_joint_position_controllers.launch"/>
+    <!--Load joint_trajectory controller in stopped mode
             NOTE: This enabled us to set the initial robot pose using euclidean coordinates.
         -->
-        <include file="$(find panda_gazebo)/launch/load_position_joint_trajectory_controllers.launch">
-            <arg name="stopped" value="true"/>
-        </include>
-    </group>
-    <!--Joint effort controllers-->
-    <group if="$(eval arg('control_type') == 'effort')">
-        <include file="$(find panda_gazebo)/launch/load_joint_effort_controllers.launch"/>
-    </group>
-    <!--Joint_trajectory controller-->
-    <include unless="$(eval arg('control_type') == 'position')" file="$(find panda_gazebo)/launch/load_effort_joint_trajectory_controllers.launch">
-        <arg name="stopped" value="$(eval arg('control_type') == 'effort')"/>
+    <include file="$(find panda_gazebo)/launch/load_position_joint_trajectory_controllers.launch">
+      <arg name="stopped" value="true"/>
     </include>
+  </group>
+  <!--Joint effort controllers-->
+  <group if="$(eval arg('control_type') == 'effort')">
+    <include file="$(find panda_gazebo)/launch/load_joint_effort_controllers.launch"/>
+  </group>
+  <!--Joint_trajectory controller-->
+  <include unless="$(eval arg('control_type') == 'position')" file="$(find panda_gazebo)/launch/load_effort_joint_trajectory_controllers.launch">
+    <arg name="stopped" value="$(eval arg('control_type') == 'effort')"/>
+  </include>
 </launch>
diff --git a/panda_gazebo/launch/load_effort_joint_trajectory_controllers.launch b/panda_gazebo/launch/load_effort_joint_trajectory_controllers.launch
@@ -1,13 +1,13 @@
 <!-- Launch file for launching the robot controllers -->
 <launch>
-    <arg name="stopped" default="false"/>
+  <arg name="stopped" default="false" doc="Spawn the controllers in stoped mode"/>
 
-    <!--Load controller parameters-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/effort_joint_trajectory_controllers.yaml" command="load"/>
+  <!--Load controller parameters-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/effort_joint_trajectory_controllers.yaml" command="load"/>
 
-    <!--Load the controllers-->
-    <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
-    <arg unless="$(arg stopped)" name="command_args" value=""/>
+  <!--Load the controllers-->
+  <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
+  <arg unless="$(arg stopped)" name="command_args" value=""/>
 
-    <node name="effort_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>
+  <node name="effort_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>
 </launch>
diff --git a/panda_gazebo/launch/load_joint_effort_controllers.launch b/panda_gazebo/launch/load_joint_effort_controllers.launch
@@ -1,13 +1,13 @@
 <!-- Launch file for launching the robot controllers -->
 <launch>
-    <arg name="stopped" default="false"/>
+  <arg name="stopped" default="false" doc="Spawn the controllers in stoped mode"/>
 
-    <!--Load controller parameters-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_effort_controllers.yaml" command="load"/>
+  <!--Load controller parameters-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_effort_controllers.yaml" command="load"/>
 
-    <!--Load the controllers-->
-    <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
-    <arg unless="$(arg stopped)" name="command_args" value="" />
-    <node name="joint_effort_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint1_effort_controller panda_arm_joint2_effort_controller
+  <!--Load the controllers-->
+  <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
+  <arg unless="$(arg stopped)" name="command_args" value="" />
+  <node name="joint_effort_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint1_effort_controller panda_arm_joint2_effort_controller
         panda_arm_joint3_effort_controller panda_arm_joint4_effort_controller panda_arm_joint5_effort_controller panda_arm_joint6_effort_controller panda_arm_joint7_effort_controller"/>
 </launch>
diff --git a/panda_gazebo/launch/load_joint_position_controllers.launch b/panda_gazebo/launch/load_joint_position_controllers.launch
@@ -1,13 +1,13 @@
 <!-- Launch file for launching the robot controllers -->
 <launch>
-    <arg name="stopped" default="false"/>
+  <arg name="stopped" default="false" doc="Spawn the controllers in stoped mode"/>
 
-    <!--Load controller parameters-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_position_controllers.yaml" command="load"/>
+  <!--Load controller parameters-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_position_controllers.yaml" command="load"/>
 
-    <!--Load the controllers-->
-    <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
-    <arg unless="$(arg stopped)" name="command_args" value=""/>
-    <node name="joint_position_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint1_position_controller panda_arm_joint2_position_controller
+  <!--Load the controllers-->
+  <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
+  <arg unless="$(arg stopped)" name="command_args" value=""/>
+  <node name="joint_position_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint1_position_controller panda_arm_joint2_position_controller
         panda_arm_joint3_position_controller panda_arm_joint4_position_controller panda_arm_joint5_position_controller panda_arm_joint6_position_controller panda_arm_joint7_position_controller"/>
 </launch>
diff --git a/panda_gazebo/launch/load_position_joint_trajectory_controllers.launch b/panda_gazebo/launch/load_position_joint_trajectory_controllers.launch
@@ -1,12 +1,12 @@
 <!-- Launch file for launching the robot controllers -->
 <launch>
-    <arg name="stopped" default="false"/>
+  <arg name="stopped" default="false"/>
 
-    <!--Load controller parameters-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/position_joint_trajectory_controllers.yaml" command="load"/>
+  <!--Load controller parameters-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/position_joint_trajectory_controllers.yaml" command="load"/>
 
-    <!--Load the controllers-->
-    <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
-    <arg unless="$(arg stopped)" name="command_args" value=""/>
-    <node name="position_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>
+  <!--Load the controllers-->
+  <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
+  <arg unless="$(arg stopped)" name="command_args" value=""/>
+  <node name="position_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>
 </launch>
diff --git a/panda_gazebo/launch/panda_rviz.launch b/panda_gazebo/launch/panda_rviz.launch
@@ -1,18 +1,18 @@
 <!-- Launch file for loading RVIZ -->
 <launch>
-    <!-- GDB Debug Option -->
-    <arg name="debug" default="false"/>
-    <arg unless="$(arg debug)" name="launch_prefix" value=""/>
-    <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args"/>
-    <!-- rviz launch arguments -->
-    <arg name="moveit" default="false" />
-    <arg unless="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda.rviz"/>
-    <arg if="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda_moveit.rviz"/>
-    <arg name="rviz_file" default="$(arg rviz_file_default)"/>
-    <arg name="command_args" value="-d $(arg rviz_file)" />
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" doc="Add gdb debug flag"/>
+  <arg unless="$(arg debug)" name="launch_prefix" value=""/>
+  <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args"/>
+  <!-- rviz launch arguments -->
+  <arg name="moveit" default="false" doc="Start MoveIt"/>
+  <arg unless="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda.rviz"/>
+  <arg if="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda_moveit.rviz"/>
+  <arg name="rviz_file" default="$(arg rviz_file_default)" doc="Path to the Rviz configuration file"/>
+  <arg name="command_args" value="-d $(arg rviz_file)" />
 
-    <!-- launch rviz -->
-    <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" args="$(arg command_args)" output="screen">
-        <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-    </node>
+  <!-- launch rviz -->
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
+  </node>
 </launch>