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WIP: Traj controller #3

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WIP: Traj controller #3

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1eaeeb7
Joint trajectory controller by default
Nov 1, 2019
d4a99e3
Updated README with dependencies
Nov 1, 2019
4b9de9a
Fixed EffortJointInterface typo
Nov 1, 2019
1025ace
Uncommented effort interface
Nov 1, 2019
793e9e1
Another try at effort interface
Nov 1, 2019
5a00843
Another try without position interfaces
Nov 1, 2019
8e772ad
Merge branch 'master' into traj-controller
Jan 23, 2020
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15 changes: 15 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -16,3 +16,18 @@ cd ${NRP_MODELS_DIRECTORY}
./create-symlinks.sh
```
3. Register this new experiment with the [web frontend](http://localhost:9000/#/esv-private) (click on `scan` or import a zip/folder)


Dependencies
--------

To run the experiment you will need the following packages:
```bash
sudo apt install ros-kinetic-ros-controllers ros-kinetic-controller-manager ros-kinetic-robot-state-publisher
```

As well as the following python packages available in the NRP experiment:
```bash
source ~/.opt/platform_venv/bin/activate
pip install torch
```
121 changes: 50 additions & 71 deletions kuka.launch
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Expand Up @@ -6,43 +6,37 @@
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
publish_rate: 50

# Forward Position Controllers ---------------------------------------
arm_j1_position_controller:
type: position_controllers/JointPositionController
joint: iiwa_joint_1
pid: {p: 800.0, i: 100, d: 80.0, i_clamp_min: -10000, i_clamp_max: 10000}
# Trajectory Controllers ---------------------------------------
#
# Effort Position Controllers ---------------------------------------
effort_trajectory_controller:
type: effort_controllers/JointTrajectoryController
joints:
- iiwa_joint_1
- iiwa_joint_2
- iiwa_joint_3
- iiwa_joint_4
- iiwa_joint_5
- iiwa_joint_6
- iiwa_joint_7
# VALUES ARE NOT CORRECT !
gains:
iiwa_joint_1: {p: 500, d: 30, i: 15, i_clamp: 30}
iiwa_joint_2: {p: 200, d: 10, i: 10, i_clamp: 30}
iiwa_joint_3: {p: 65, d: 10, i: 15, i_clamp: 30}
iiwa_joint_4: {p: 31, d: 7, i: 12, i_clamp: 30}
iiwa_joint_5: {p: 23, d: 3, i: 5, i_clamp: 30}
iiwa_joint_6: {p: 13, d: 3, i: 3, i_clamp: 30}
iiwa_joint_7: {p: 17, d: 2, i: 2.5, i_clamp: 10}

arm_j2_position_controller:
type: position_controllers/JointPositionController
joint: iiwa_joint_2
pid: {p: 800.0, i: 1000, d: 100.0, i_clamp_min: -10000, i_clamp_max: 10000}

arm_j3_position_controller:
type: position_controllers/JointPositionController
joint: iiwa_joint_3
pid: {p: 800.0, i: 10, d: 5.0, i_clamp_min: -10000, i_clamp_max: 10000}

arm_j4_position_controller:
type: position_controllers/JointPositionController
joint: iiwa_joint_4
pid: {p: 800.0, i: 10, d: 80.0, i_clamp_min: -10000, i_clamp_max: 10000}

arm_j5_position_controller:
type: position_controllers/JointPositionController
joint: iiwa_joint_5
pid: {p: 300.0, i: 5, d: 10.0, i_clamp_min: -10000, i_clamp_max: 10000}

arm_j6_position_controller:
type: position_controllers/JointPositionController
joint: iiwa_joint_6
pid: {p: 50.0, i: 1, d: 1.0, i_clamp_min: -10000, i_clamp_max: 10000}

arm_j7_position_controller:
type: position_controllers/JointPositionController
joint: iiwa_joint_7
pid: {p: 10.0, i: 0.1, d: 1.0, i_clamp_min: -10000, i_clamp_max: 10000}
constraints:
goal_time: 0.5 # Override default

state_publish_rate: 25 # Override default
action_monitor_rate: 30 # Override default
stop_trajectory_duration: 0 # Override default

gripper_left_effort_controller:
type: effort_controllers/JointEffortController
Expand All @@ -53,7 +47,8 @@ gripper_right_effort_controller:
type: effort_controllers/JointEffortController
joint: gripper_right_joint
pid: {p: 10.0, i: 0.0, d: 0.1, i_clamp_min: -1, i_clamp_max: 1}
</rosparam>

</rosparam>

<!--<param name="robot_description" textfile="$(find kuka_iiwa_14_prismatic_gripper)/config/total_iiwa_14.xacro"/>-->
<param name="robot_description" type="str" value='&lt;?xml version="1.0" ?>
Expand Down Expand Up @@ -415,90 +410,76 @@ gripper_right_effort_controller:
&lt;robotNamespace>/iiwa&lt;/robotNamespace>
&lt;type>transmission_interface/SimpleTransmission&lt;/type>
&lt;joint name="iiwa_joint_1">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;/joint>
&lt;actuator name="iiwa_motor_1">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;mechanicalReduction>1&lt;/mechanicalReduction>
&lt;/actuator>
&lt;/transmission>
&lt;transmission name="iiwa_tran_2">
&lt;robotNamespace>/iiwa&lt;/robotNamespace>
&lt;type>transmission_interface/SimpleTransmission&lt;/type>
&lt;joint name="iiwa_joint_2">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;/joint>
&lt;actuator name="iiwa_motor_2">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;mechanicalReduction>1&lt;/mechanicalReduction>
&lt;/actuator>
&lt;/transmission>
&lt;transmission name="iiwa_tran_3">
&lt;robotNamespace>/iiwa&lt;/robotNamespace>
&lt;type>transmission_interface/SimpleTransmission&lt;/type>
&lt;joint name="iiwa_joint_3">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;/joint>
&lt;actuator name="iiwa_motor_3">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;mechanicalReduction>1&lt;/mechanicalReduction>
&lt;/actuator>
&lt;/transmission>
&lt;transmission name="iiwa_tran_4">
&lt;robotNamespace>/iiwa&lt;/robotNamespace>
&lt;type>transmission_interface/SimpleTransmission&lt;/type>
&lt;joint name="iiwa_joint_4">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;/joint>
&lt;actuator name="iiwa_motor_4">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;mechanicalReduction>1&lt;/mechanicalReduction>
&lt;/actuator>
&lt;/transmission>
&lt;transmission name="iiwa_tran_5">
&lt;robotNamespace>/iiwa&lt;/robotNamespace>
&lt;type>transmission_interface/SimpleTransmission&lt;/type>
&lt;joint name="iiwa_joint_5">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;/joint>
&lt;actuator name="iiwa_motor_5">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;mechanicalReduction>1&lt;/mechanicalReduction>
&lt;/actuator>
&lt;/transmission>
&lt;transmission name="iiwa_tran_6">
&lt;robotNamespace>/iiwa&lt;/robotNamespace>
&lt;type>transmission_interface/SimpleTransmission&lt;/type>
&lt;joint name="iiwa_joint_6">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;/joint>
&lt;actuator name="iiwa_motor_6">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;mechanicalReduction>1&lt;/mechanicalReduction>
&lt;/actuator>
&lt;/transmission>
&lt;transmission name="iiwa_tran_7">
&lt;robotNamespace>/iiwa&lt;/robotNamespace>
&lt;type>transmission_interface/SimpleTransmission&lt;/type>
&lt;joint name="iiwa_joint_7">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;/joint>
&lt;actuator name="iiwa_motor_7">
&lt;hardwareInterface>PositionJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;mechanicalReduction>1&lt;/mechanicalReduction>
&lt;/actuator>
&lt;/transmission>
Expand Down Expand Up @@ -592,11 +573,11 @@ gripper_right_effort_controller:
&lt;type>transmission_interface/SimpleTransmission&lt;/type>
&lt;joint name="gripper_left_joint">
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;!--&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>-->
&lt;/joint>
&lt;actuator name="gripper_motor_left">
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;!--&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>-->
&lt;mechanicalReduction>1&lt;/mechanicalReduction>
&lt;/actuator>
&lt;/transmission>
Expand All @@ -605,27 +586,25 @@ gripper_right_effort_controller:
&lt;type>transmission_interface/SimpleTransmission&lt;/type>
&lt;joint name="gripper_right_joint">
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;!--&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>-->
&lt;/joint>
&lt;actuator name="iiwa_motor_right">
&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>
&lt;!--&lt;hardwareInterface>hardware_interface/EffortJointInterface&lt;/hardwareInterface>-->
&lt;!--&lt;hardwareInterface>EffortJointInterface&lt;/hardwareInterface>-->
&lt;mechanicalReduction>1&lt;/mechanicalReduction>
&lt;/actuator>
&lt;/transmission>
&lt;/robot>'/>

<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="arm_j1_position_controller arm_j2_position_controller arm_j3_position_controller arm_j4_position_controller arm_j5_position_controller arm_j6_position_controller arm_j7_position_controller gripper_left_effort_controller gripper_right_effort_controller joint_state_controller">
<!--<remap from="/robot_description" to="/iiwa/robot_description"/>-->
output="screen" args="effort_trajectory_controller gripper_left_effort_controller gripper_right_effort_controller joint_state_controller">
</node>

<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/iiwa/joint_states" />
<!--<remap from="/iiwa/robot_description" to="/robot_description"/>-->
</node>
</group>
</launch>