search

Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
54 stars 28 forks source link

Fix controller yml #71

Closed matsui-hiro closed 1 year ago

matsui-hiro commented 2 years ago

In khi_robot_bringup/config/rs007l_controllers.yaml

    constraints:
      goal_time: 2.0                   # Defaults to zero
      stopped_velocity_tolerance: 0.1 # Defaults to 0.01
      lower_joint1:
        trajectory: 0 
        goal: 0.2       
      lower_joint2:
        trajectory: 0 
        goal: 0.2       
      lower_joint3:
        trajectory: 0 
        goal: 0.2       
      lower_joint4:
        trajectory: 0 
        goal: 0.2

Correct joint names are joint1 ~ 6 but settings are lower_joint1 ~ 4.

Similar descriptions are found in khi_robot_bringup/config/rs007n_controllers.yaml khi_robot_bringup/config/rs007l_controllers.yaml khi_robot_bringup/config/rs013n_controllers.yaml khi_robot_bringup/config/rs080n_controllers.yaml khi_rs_gazebo/config/rs007n_gazebo_control.yaml khi_rs_gazebo/config/rs007l_gazebo_control.yaml khi_rs_gazebo/config/rs013n_gazebo_control.yaml khi_rs_gazebo/config/rs025n_gazebo_control.yaml khi_rs_gazebo/config/rs080n_gazebo_control.yaml

This PR changes ..

  1. rename lower_joint1~4-> joint1~6.
  2. change the trajectory and goal value to default: 0.0.

The reason to set default values is not to change robot move from previous versions.

HirokiTakami commented 1 year ago

Thank you for opening the PR. I checked this change. I will merge this PR.