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sinaaghlishaur-k
sinaaghli
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shaur-k
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ignores the fts sensor feedback which is publishing nans
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‎src/moveit_pro_ur_configs/mock_sim/config/config.yaml‎

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@@ -27,3 +27,30 @@ objectives:
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mock_hardware_objectives:
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package_name: "mock_sim"
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relative_path: "objectives"
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ros2_control:
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config:
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package: "mock_sim"
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path: "config/control/picknik_ur.ros2_control.yaml"
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# MoveIt Pro will load and activate these controllers at start up to ensure they are available.
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# If not specified, it is up to the user to ensure the appropriate controllers are active and available
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# for running the application.
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# [Optional, default=[]]
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controllers_active_at_startup:
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- "robotiq_gripper_controller"
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- "joint_state_broadcaster"
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- "servo_controller"
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- "io_and_status_controller"
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- "robotiq_activation_controller"
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# Load but do not start these controllers so they can be activated later if needed.
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# [Optional, default=[]]
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controllers_inactive_at_startup:
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- "joint_trajectory_controller"
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- "joint_trajectory_admittance_controller"
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- "velocity_force_controller"
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# Any controllers here will not be spawned by MoveIt Pro.
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# [Optional, default=[]]
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controllers_not_managed: []
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# Optionally configure remapping rules to let multiple controllers receive commands on the same topic.
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# [Optional, default=[]]
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controller_shared_topics: []

‎src/moveit_pro_ur_configs/mock_sim/config/control/picknik_ur.ros2_control.yaml‎

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controller_manager:
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ros__parameters:
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update_rate: 600 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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io_and_status_controller:
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type: ur_controllers/GPIOController
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joint_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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robotiq_gripper_controller:
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type: position_controllers/GripperActionController
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robotiq_activation_controller:
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type: robotiq_controllers/RobotiqActivationController
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servo_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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joint_trajectory_admittance_controller:
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type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
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velocity_force_controller:
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type: velocity_force_controller/VelocityForceController
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io_and_status_controller:
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ros__parameters:
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tf_prefix: ""
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joint_trajectory_controller:
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ros__parameters:
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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command_joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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state_publish_rate: 100.0
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action_monitor_rate: 20.0
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allow_partial_joints_goal: false
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constraints:
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stopped_velocity_tolerance: 0.0
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goal_time: 0.0
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shoulder_pan_joint:
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goal: 0.05
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shoulder_lift_joint:
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goal: 0.05
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elbow_joint:
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goal: 0.05
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wrist_1_joint:
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goal: 0.05
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wrist_2_joint:
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goal: 0.05
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wrist_3_joint:
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goal: 0.05
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servo_controller:
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ros__parameters:
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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command_joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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state_publish_rate: 100.0
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action_monitor_rate: 20.0
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allow_partial_joints_goal: false
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constraints:
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stopped_velocity_tolerance: 0.0
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goal_time: 0.0
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shoulder_pan_joint:
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goal: 0.05
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shoulder_lift_joint:
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goal: 0.05
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elbow_joint:
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goal: 0.05
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wrist_1_joint:
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goal: 0.05
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wrist_2_joint:
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goal: 0.05
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wrist_3_joint:
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goal: 0.05
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robotiq_gripper_controller:
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ros__parameters:
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default: true
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joint: robotiq_85_left_knuckle_joint
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allow_stalling: true
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stall_timeout: 0.05
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goal_tolerance: 0.02
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robotiq_activation_controller:
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ros__parameters:
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default: true
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joint_trajectory_admittance_controller:
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ros__parameters:
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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base_frame: base_link
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sensor_frame: tool0
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ee_frame: grasp_link
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# Joint accelerations chosen to match MoveIt configs.
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stop_accelerations:
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- 30.0
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- 30.0
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- 30.0
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- 30.0
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- 30.0
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- 30.0
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velocity_force_controller:
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ros__parameters:
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planning_group_name: manipulator
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sensor_frame: tool0
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ee_frame: grasp_link
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ft_force_deadband: 2.0
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ft_torque_deadband: 1.0
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max_joint_velocity:
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- 0.524
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- 0.524
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- 0.524
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- 1.047
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- 1.047
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- 1.047
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max_joint_acceleration:
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- 52.4
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- 52.4
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- 52.4
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- 52.4
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- 52.4
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- 52.4
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max_cartesian_velocity:
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- 0.25
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- 0.25
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- 0.25
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- 1.5707
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- 1.5707
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- 1.5707
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max_cartesian_acceleration:
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- 20.0
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- 20.0
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- 20.0
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- 40.0
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- 40.0
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- 40.0

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