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Pro / edo_gazebo

Comau e.DO Gazebo Simulation
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Gazebo simulation with effort controller #1

Open ointona94 opened 4 years ago

ointona94 commented 4 years ago

Hi, i'm trying to use these files to simulate the robot in gazebo without moveit but with an effort controller. In particular i would like to know what changes should i do and which files i can use to simulate the robot with the effort controller. I tried to change the hardware interface from "PositionJointInterface" to "EffortJointInterface" and i created a new launch file for the effort controller with the relative pid parameters (following the tutorial on gazebo) but the robot explodes. I have noticied also that there are few commented instructions for the effort controller in the controller_utils.launch file but they refers to the file "iiwa_control.launch" that is not present inside the directory.

Thank you in advance!

ointona94 commented 4 years ago

In particular i created a new "edo.launch" file. This launches the edo.xacro file that has been modified togheter with the file edo.gazebo (only added the gazebo ros control) and the file edo.transmission (just changed the hardware interface). The others files are unchanged except for the edo.urdf.xacro that is not used.

Files:

edo.xacro.txt

edo.transmission.xacro.txt

edo.gazebo.xacro.txt

edo.launch.txt