Closed IanTheEngineer closed 6 years ago
Adds compensation for Coreolis Torques (from actual velocity)
Adds compensation for Inertial Torques (from commanded acceleration)
Fixed bug with Zero-initialization of KDL JointArrays, which would cause jitter in the simulated arm
KDL JointArrays
Use full gravity_model_effort which composes Gravity, Coreolis, and Inertial Torques instead of just gravity_only
gravity_model_effort
gravity_only
Removed unused PID values for torque and gravity controllers
Retuned Position PID controller
Adds pedestal param to launch to allow removing pedestal
pedestal
Adds static param to allow the robot base to move in Gazebo
static
Adds initial_joint_states param, but it's not (currently) functional
initial_joint_states
Adds load_gazebo param, to allow for gazebo to be launched separate
load_gazebo
This is targeting the release-5.2.0 branch, as I intend to push it as a hotfix to the master branch, due to customer request.
release-5.2.0
master
Fixed Gravity Compensation Torque Calculation
Adds compensation for Coreolis Torques (from actual velocity)
Adds compensation for Inertial Torques (from commanded acceleration)
Fixed bug with Zero-initialization of
KDL JointArrays
, which would cause jitter in the simulated armUse full
gravity_model_effort
which composes Gravity, Coreolis, and Inertial Torques instead of justgravity_only
Removed unused PID values for torque and gravity controllers
Retuned Position PID controller
Adds new params for sawyer_world launch
Adds
pedestal
param to launch to allow removing pedestalAdds
static
param to allow the robot base to move in GazeboAdds
initial_joint_states
param, but it's not (currently) functionalAdds
load_gazebo
param, to allow for gazebo to be launched separate