adding right hand controller options for proper prefix

sr_description/hand/config/right_hand_controller_gazebo.yaml

@@ -0,0 +1,239 @@
+sh_ffj0_position_controller:
+  joint: rh_FFJ0
+  pid:
+    d: 0.005
+    i: 0.1
+    i_clamp: 0.05
+    p: 0.5
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_ffj3_position_controller:
+  joint: rh_FFJ3
+  pid:
+    d: 0.05
+    i: 0.2
+    i_clamp: 0.2
+    p: 1.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_ffj4_position_controller:
+  joint: rh_FFJ4
+  pid:
+    d: 0.05
+    i: 0.2
+    i_clamp: 0.2
+    p: 1.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_lfj0_position_controller:
+  joint: rh_LFJ0
+  pid:
+    d: 0.005
+    i: 0.1
+    i_clamp: 0.05
+    p: 0.5
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_lfj3_position_controller:
+  joint: rh_LFJ3
+  pid:
+    d: 0.05
+    i: 0.2
+    i_clamp: 0.2
+    p: 1.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_lfj4_position_controller:
+  joint: rh_LFJ4
+  pid:
+    d: 0.05
+    i: 0.2
+    i_clamp: 0.2
+    p: 1.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_lfj5_position_controller:
+  joint: rh_LFJ5
+  pid:
+    d: 0.05
+    i: 0.2
+    i_clamp: 0.2
+    p: 1.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_mfj0_position_controller:
+  joint: rh_MFJ0
+  pid:
+    d: 0.005
+    i: 0.1
+    i_clamp: 0.05
+    p: 0.5
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_mfj3_position_controller:
+  joint: rh_MFJ3
+  pid:
+    d: 0.05
+    i: 0.2
+    i_clamp: 0.2
+    p: 1.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_mfj4_position_controller:
+  joint: rh_MFJ4
+  pid:
+    d: 0.05
+    i: 0.2
+    i_clamp: 0.2
+    p: 1.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_rfj0_position_controller:
+  joint: rh_RFJ0
+  pid:
+    d: 0.005
+    i: 0.1
+    i_clamp: 0.05
+    p: 0.5
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_rfj3_position_controller:
+  joint: rh_RFJ3
+  pid:
+    d: 0.05
+    i: 0.2
+    i_clamp: 0.2
+    p: 1.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_rfj4_position_controller:
+  joint: rh_RFJ4
+  pid:
+    d: 0.05
+    i: 0.2
+    i_clamp: 0.2
+    p: 1.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_thj1_position_controller:
+  joint: rh_THJ1
+  pid:
+    d: 0.0
+    i: 0.2
+    i_clamp: 0.2
+    p: 1.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_thj2_position_controller:
+  joint: rh_THJ2
+  pid:
+    d: 0.0
+    i: 0.7
+    i_clamp: 0.4
+    p: 1.5
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_thj3_position_controller:
+  joint: rh_THJ3
+  pid:
+    d: 0.0
+    i: 0.2
+    i_clamp: 0.2
+    p: 0.5
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 1.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_thj4_position_controller:
+  joint: rh_THJ4
+  pid:
+    d: 0.0
+    i: 0.4
+    i_clamp: 0.3
+    p: 1.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 2.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_thj5_position_controller:
+  joint: rh_THJ5
+  pid:
+    d: 0.05
+    i: 0.1
+    i_clamp: 0.4
+    p: 0.4
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 3.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_wrj1_position_controller:
+  joint: rh_WRJ1
+  pid:
+    d: 1.0
+    i: 1.5
+    i_clamp: 0.8
+    p: 10.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 5.0
+  type: sr_mechanism_controllers/SrhJointPositionController
+
+sh_wrj2_position_controller:
+  joint: rh_WRJ2
+  pid:
+    d: 0.2
+    i: 1.5
+    i_clamp: 0.5
+    p: 8.0
+    position_deadband: 0.0
+    friction_deadband: 0.0
+    max_force: 10.0
+  type: sr_mechanism_controllers/SrhJointPositionController

sr_hand/launch/gazebo/loaders/hand_controllers.launch

@@ -1,6 +1,10 @@
 <launch>
-  <rosparam file="$(find sr_description)/hand/config/hand_controller_gazebo.yaml" command="load"/>
-  <rosparam file="$(find sr_description)/hand/config/hand_effort_controller_gazebo.yaml" command="load"/>
+  <arg name="hand_controller_gazebo" default="$(find sr_description)/hand/config/hand_controller_gazebo.yaml"/>
+  <arg name="hand_effort_controller_gazebo" default="$(find sr_description)/hand/config/hand_effort_controller_gazebo.yaml"/>
+
+
+  <rosparam file="$(arg hand_controller_gazebo)" command="load"/>
+  <rosparam file="$(arg hand_effort_controller_gazebo)" command="load"/>
 
   <group if="$(optenv ONE_FINGER 0)">
     <node name="spawn_gazebo_hand_controllers"

sr_robot_launch/launch/gazebo/controllers.launch

@@ -11,7 +11,9 @@
 
   <!-- hands -->
   <group if="$(arg hands)">
-    <include file="$(find sr_hand)/launch/gazebo/loaders/hand_controllers.launch"/>
+    <include file="$(find sr_hand)/launch/gazebo/loaders/hand_controllers.launch">
+      <arg name="hand_controller_gazebo" value="$(find sr_description)/hand/config/right_hand_controller_gazebo.yaml"/>
+    </include>
   </group>
 
 </launch>