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a2s-institute / youbot_simulation

Packages to run the KUKA youBot in the Gazebo simulation with ROS
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Arm controller for the real robot #6

Open mazaaa opened 8 years ago

mazaaa commented 8 years ago

Hi everyone,

is it possible to use the arm controller which is integrated into gazebo and set up for the youbot in this simulation (effort_controllers/JointTrajectoryController) for the real robot? To achieve this, I guess I have to change the youbot_driver_ros_interface, so that FollowJointTrajectory commands get to the controller and the controller's output gets to the youbot_driver_ros_interface. Has anyone done this before?

This is the only tutorial I've found regarding this issue : https://github.com/ros-controls/ros_control/wiki/hardware_interface

Unfortunately, I can't figure out how to do this with the youbot_interface. Especially how to change the interface in a way that it does not receive the FollowJointTrajectory commands directly.

And I have one more question: Does the effort_controllers/JointTrajectoryController use the URDF file to build a dynamic model of the youbot to transform position/velocity/acceleration trajectories into torque/effort commands?

Any help would be much appreciated.

frederikhegger commented 8 years ago

As far as I know, no one has done this before. Therefore, I don't have any suggestions for you, beside looking at the ros-control tutorials and refactor the youbot_driver_ros_interface accordingly.

And yes, the effort controllers use the parameters from the URDF files, e.g. damping, friction, effort limits, velocity limits and so on.