Controller configuration for REEM robot.

reem_controller_configuration/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

reem_controller_configuration/Makefile

@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

reem_controller_configuration/config/reem_arm_controllers.yaml

@@ -0,0 +1,92 @@
+right_arm_controller:
+  type: "robot_mechanism_controllers/JointTrajectoryActionController"
+  joints: &arm_right_joints
+    - arm_right_1_joint
+    - arm_right_2_joint
+    - arm_right_3_joint
+    - arm_right_4_joint
+    - arm_right_5_joint
+    - arm_right_6_joint
+    - arm_right_7_joint
+  joint_trajectory_action_node:
+    joints: *arm_right_joints
+    constraints:
+      goal_time: &goal_time_constraint 0.6
+      arm_right_1_joint:
+        goal: &goal_pos_constraint 0.02
+      arm_right_2_joint:
+        goal: *goal_pos_constraint
+      arm_right_3_joint:
+        goal: *goal_pos_constraint
+      arm_right_4_joint:
+        goal: *goal_pos_constraint
+      arm_right_5_joint:
+        goal: *goal_pos_constraint
+      arm_right_6_joint:
+        goal: *goal_pos_constraint
+      arm_right_7_joint:
+        goal: *goal_pos_constraint
+
+right_arm_torso_controller:
+  type: "robot_mechanism_controllers/JointTrajectoryActionController"
+  joints: &arm_right_torso_joints
+    - torso_1_joint
+    - torso_2_joint
+    - arm_right_1_joint
+    - arm_right_2_joint
+    - arm_right_3_joint
+    - arm_right_4_joint
+    - arm_right_5_joint
+    - arm_right_6_joint
+    - arm_right_7_joint
+  joint_trajectory_action_node:
+    joints: *arm_right_torso_joints
+    constraints:
+      goal_time: *goal_time_constraint
+      torso_1_joint:
+        goal: *goal_pos_constraint
+      torso_2_joint:
+        goal: *goal_pos_constraint
+      arm_right_1_joint:
+        goal: *goal_pos_constraint
+      arm_right_2_joint:
+        goal: *goal_pos_constraint
+      arm_right_3_joint:
+        goal: *goal_pos_constraint
+      arm_right_4_joint:
+        goal: *goal_pos_constraint
+      arm_right_5_joint:
+        goal: *goal_pos_constraint
+      arm_right_6_joint:
+        goal: *goal_pos_constraint
+      arm_right_7_joint:
+        goal: *goal_pos_constraint
+
+left_arm_controller:
+  type: "robot_mechanism_controllers/JointTrajectoryActionController"
+  joints: &arm_left_joints
+    - 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_trajectory_action_node:
+    joints: *arm_left_joints
+    constraints:
+      goal_time: *goal_time_constraint
+      arm_left_1_joint:
+        goal: *goal_pos_constraint
+      arm_left_2_joint:
+        goal: *goal_pos_constraint
+      arm_left_3_joint:
+        goal: *goal_pos_constraint
+      arm_left_4_joint:
+        goal: *goal_pos_constraint
+      arm_left_5_joint:
+        goal: *goal_pos_constraint
+      arm_left_6_joint:
+        goal: *goal_pos_constraint
+      arm_left_7_joint:
+        goal: *goal_pos_constraint

reem_controller_configuration/config/reem_both_arms_controllers.yaml

@@ -0,0 +1,49 @@
+both_arms_controller:
+  type: "robot_mechanism_controllers/JointTrajectoryActionController"
+  joints: &arm_joints
+    - arm_right_1_joint
+    - arm_right_2_joint
+    - arm_right_3_joint
+    - arm_right_4_joint
+    - arm_right_5_joint
+    - arm_right_6_joint
+    - arm_right_7_joint
+    - 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_trajectory_action_node:
+    joints: *arm_joints
+    constraints:
+      goal_time: 0.6
+      arm_right_1_joint:
+        goal: 0.02
+      arm_right_2_joint:
+        goal: 0.02
+      arm_right_3_joint:
+        goal: 0.02
+      arm_right_4_joint:
+        goal: 0.02
+      arm_right_5_joint:
+        goal: 0.02
+      arm_right_6_joint:
+        goal: 0.02
+      arm_right_7_joint:
+        goal: 0.02
+      arm_left_1_joint:
+        goal: 0.02
+      arm_left_2_joint:
+        goal: 0.02
+      arm_left_3_joint:
+        goal: 0.02
+      arm_left_4_joint:
+        goal: 0.02
+      arm_left_5_joint:
+        goal: 0.02
+      arm_left_6_joint:
+        goal: 0.02
+      arm_left_7_joint:
+        goal: 0.02

reem_controller_configuration/config/reem_hand_controllers.yaml

@@ -0,0 +1,33 @@
+right_hand_controller:
+  type: "robot_mechanism_controllers/JointTrajectoryActionController"
+  joints: &hand_right_joints
+    - hand_right_thumb_joint
+    - hand_right_index_1_joint
+    - hand_right_middle_1_joint
+  joint_trajectory_action_node:
+    joints: *hand_right_joints
+    constraints:
+      goal_time: &goal_time_constraint 0.6
+      hand_right_thumb_joint:
+        goal: &goal_pos_constraint 0.02
+      hand_right_index_1_joint:
+        goal: *goal_pos_constraint
+      hand_right_middle_1_joint:
+        goal: *goal_pos_constraint
+
+left_hand_controller:
+  type: "robot_mechanism_controllers/JointTrajectoryActionController"
+  joints: &hand_left_joints
+    - hand_left_thumb_joint
+    - hand_left_index_1_joint
+    - hand_left_middle_1_joint
+  joint_trajectory_action_node:
+    joints: *hand_left_joints
+    constraints:
+      goal_time: *goal_time_constraint
+      hand_left_thumb_joint:
+        goal: *goal_pos_constraint
+      hand_left_index_1_joint:
+        goal: *goal_pos_constraint
+      hand_left_middle_1_joint:
+        goal: *goal_pos_constraint

reem_controller_configuration/config/reem_head_controller.yaml

@@ -0,0 +1,13 @@
+head_traj_controller:
+  type: "robot_mechanism_controllers/JointTrajectoryActionController"
+  joints: &head_joints
+    - head_1_joint
+    - head_2_joint
+  joint_trajectory_action_node:
+    joints: *head_joints
+    constraints:
+      goal_time: 0.6
+      head_1_joint:
+        goal: 0.02
+      head_2_joint:
+        goal: 0.02

reem_controller_configuration/config/reem_torso_controller.yaml

@@ -0,0 +1,13 @@
+torso_controller:
+  type: "robot_mechanism_controllers/JointTrajectoryActionController"
+  joints: &torso_joints
+    - torso_1_joint
+    - torso_2_joint
+  joint_trajectory_action_node:
+    joints: *torso_joints
+    constraints:
+      goal_time: 0.6
+      torso_1_joint:
+        goal: 0.02
+      torso_2_joint:
+        goal: 0.02

reem_controller_configuration/config/reem_upper_body_controllers.yaml

@@ -0,0 +1,61 @@
+upper_body_controller:
+  type: "robot_mechanism_controllers/JointTrajectoryActionController"
+  joints: &upper_body_joints
+    - torso_1_joint
+    - torso_2_joint
+    - head_1_joint
+    - head_2_joint
+    - arm_right_1_joint
+    - arm_right_2_joint
+    - arm_right_3_joint
+    - arm_right_4_joint
+    - arm_right_5_joint
+    - arm_right_6_joint
+    - arm_right_7_joint
+    - 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_trajectory_action_node:
+    joints: *upper_body_joints
+    constraints:
+      goal_time: 0.6
+      torso_1_joint:
+        goal: &goal_pos_constraint 0.02
+      torso_2_joint:
+        goal: *goal_pos_constraint
+      head_1_joint:
+        goal: *goal_pos_constraint
+      head_2_joint:
+        goal: *goal_pos_constraint
+      arm_right_1_joint:
+        goal: *goal_pos_constraint
+      arm_right_2_joint:
+        goal: *goal_pos_constraint
+      arm_right_3_joint:
+        goal: *goal_pos_constraint
+      arm_right_4_joint:
+        goal: *goal_pos_constraint
+      arm_right_5_joint:
+        goal: *goal_pos_constraint
+      arm_right_6_joint:
+        goal: *goal_pos_constraint
+      arm_right_7_joint:
+        goal: *goal_pos_constraint
+      arm_left_1_joint:
+        goal: *goal_pos_constraint
+      arm_left_2_joint:
+        goal: *goal_pos_constraint
+      arm_left_3_joint:
+        goal: *goal_pos_constraint
+      arm_left_4_joint:
+        goal: *goal_pos_constraint
+      arm_left_5_joint:
+        goal: *goal_pos_constraint
+      arm_left_6_joint:
+        goal: *goal_pos_constraint
+      arm_left_7_joint:
+        goal: *goal_pos_constraint

reem_controller_configuration/launch/reem_default_controllers.launch

@@ -0,0 +1,14 @@
+<launch>
+  <!-- Arms -->
+  <rosparam command="load" file="$(find reem_controller_configuration)/config/reem_arm_controllers.yaml" />
+
+  <!-- Hands -->
+  <rosparam command="load" file="$(find reem_controller_configuration)/config/reem_hand_controllers.yaml" />
+
+  <!-- Head -->
+  <rosparam command="load" file="$(find reem_controller_configuration)/config/reem_head_controller.yaml" />
+
+  <!-- Torso -->
+  <rosparam command="load" file="$(find reem_controller_configuration)/config/reem_torso_controller.yaml" />
+
+</launch>

reem_controller_configuration/mainpage.dox

@@ -0,0 +1,26 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b reem_controller_configuration is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

reem_controller_configuration/manifest.xml

@@ -0,0 +1,14 @@
+<package>
+  <description brief="reem_controller_configuration">
+
+     Launch files and scripts needed to configure the controllers of the REEM robot.
+
+  </description>
+  <author>Adolfo Rodriguez Tsouroukdissian</author>
+  <license>Modified BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/reem_controller_configuration</url>
+
+</package>
+
+