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Using velocity command interface with the SJTC #1480

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Using velocity command interface with the SJTC #1480

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b243308
Added PID gains for the SJTC velocity interface
URJala Aug 21, 2025
e20b505
Add doc entry about using velocity interface
URJala Aug 21, 2025
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5 changes: 5 additions & 0 deletions ur_controllers/doc/index.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,11 @@ the fraction determined by the current speed scaling. If speed scaling is curren
interpolation of the current control cycle will start half a time step after the beginning of the
previous control cycle.

Using velocity as command interface
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
The controller is able to use velocity as the sole command interface, and gains for that control mode have been specified, that work with all e-series robots.
The UR15, UR20 and UR30 robot models, however, do not support this control mode.

.. _io_and_status_controller:

ur_controllers/GPIOController
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10 changes: 9 additions & 1 deletion ur_robot_driver/config/ur_controllers.yaml
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Expand Up @@ -87,7 +87,7 @@ joint_trajectory_controller:
- $(var tf_prefix)wrist_2_joint
- $(var tf_prefix)wrist_3_joint
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
Expand Down Expand Up @@ -137,6 +137,14 @@ scaled_joint_trajectory_controller:
$(var tf_prefix)wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
$(var tf_prefix)wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
speed_scaling_interface_name: $(var tf_prefix)speed_scaling/speed_scaling_factor
gains:
# These values will work for all e-series robots, but will not work for UR15/20/30
$(var tf_prefix)shoulder_pan_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
$(var tf_prefix)shoulder_lift_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
$(var tf_prefix)elbow_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
$(var tf_prefix)wrist_1_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
$(var tf_prefix)wrist_2_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
$(var tf_prefix)wrist_3_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}

passthrough_trajectory_controller:
ros__parameters:
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