From 43f3f26cb0748026ad5feeed68faaa45309a2cba Mon Sep 17 00:00:00 2001 From: AndyZe <andyz@utexas.edu> Date: Wed, 22 May 2019 09:10:26 -0500 Subject: [PATCH] Load the JointGroupPositionController so jog commands can be sent (#422) * Load the JointGroupPositionController so jog commands can be sent * Load new controllers for UR5/UR10, too * Add other controllers in launch file * Add JointGroupPositionController to UR e-series --- ur_e_gazebo/controller/arm_controller_ur10e.yaml | 10 ++++++++++ ur_e_gazebo/controller/arm_controller_ur3e.yaml | 10 ++++++++++ ur_e_gazebo/controller/arm_controller_ur5e.yaml | 10 ++++++++++ ur_e_gazebo/launch/ur10e.launch | 4 ++++ ur_e_gazebo/launch/ur3e.launch | 4 ++++ ur_e_gazebo/launch/ur5e.launch | 4 ++++ ur_e_gazebo/package.xml | 11 ++++++----- ur_gazebo/controller/arm_controller_ur10.yaml | 10 ++++++++++ ur_gazebo/controller/arm_controller_ur3.yaml | 10 ++++++++++ ur_gazebo/controller/arm_controller_ur5.yaml | 10 ++++++++++ ur_gazebo/launch/ur10.launch | 4 ++++ ur_gazebo/launch/ur3.launch | 4 ++++ ur_gazebo/launch/ur5.launch | 4 ++++ ur_gazebo/package.xml | 8 ++++---- 14 files changed, 94 insertions(+), 9 deletions(-) diff --git a/ur_e_gazebo/controller/arm_controller_ur10e.yaml b/ur_e_gazebo/controller/arm_controller_ur10e.yaml index 7ab8870..fb7b3d4 100644 --- a/ur_e_gazebo/controller/arm_controller_ur10e.yaml +++ b/ur_e_gazebo/controller/arm_controller_ur10e.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_e_gazebo/controller/arm_controller_ur3e.yaml b/ur_e_gazebo/controller/arm_controller_ur3e.yaml index 7ab8870..fb7b3d4 100644 --- a/ur_e_gazebo/controller/arm_controller_ur3e.yaml +++ b/ur_e_gazebo/controller/arm_controller_ur3e.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_e_gazebo/controller/arm_controller_ur5e.yaml b/ur_e_gazebo/controller/arm_controller_ur5e.yaml index 7ab8870..fb7b3d4 100644 --- a/ur_e_gazebo/controller/arm_controller_ur5e.yaml +++ b/ur_e_gazebo/controller/arm_controller_ur5e.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_e_gazebo/launch/ur10e.launch b/ur_e_gazebo/launch/ur10e.launch index 92e38eb..ec37fd5 100644 --- a/ur_e_gazebo/launch/ur10e.launch +++ b/ur_e_gazebo/launch/ur10e.launch @@ -21,7 +21,11 @@ <include file="$(find ur_e_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_e_gazebo)/controller/arm_controller_ur10e.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_e_gazebo/launch/ur3e.launch b/ur_e_gazebo/launch/ur3e.launch index 63bc42a..31bc8dc 100644 --- a/ur_e_gazebo/launch/ur3e.launch +++ b/ur_e_gazebo/launch/ur3e.launch @@ -21,7 +21,11 @@ <include file="$(find ur_e_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_e_gazebo)/controller/arm_controller_ur3e.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_e_gazebo/launch/ur5e.launch b/ur_e_gazebo/launch/ur5e.launch index b58860f..7565493 100644 --- a/ur_e_gazebo/launch/ur5e.launch +++ b/ur_e_gazebo/launch/ur5e.launch @@ -21,7 +21,11 @@ <include file="$(find ur_e_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_e_gazebo)/controller/arm_controller_ur5e.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_e_gazebo/package.xml b/ur_e_gazebo/package.xml index d1cb64f..0919796 100644 --- a/ur_e_gazebo/package.xml +++ b/ur_e_gazebo/package.xml @@ -20,15 +20,16 @@ <buildtool_depend>catkin</buildtool_depend> <test_depend>roslaunch</test_depend> - <run_depend>ur_e_description</run_depend> - <run_depend>gazebo_ros</run_depend> - <run_depend>gazebo_ros_control</run_depend> + <run_depend>controller_manager</run_depend> + <run_depend>effort_controllers</run_depend> <run_depend>joint_state_controller</run_depend> <run_depend>joint_trajectory_controller</run_depend> - <run_depend>effort_controllers</run_depend> + <run_depend>gazebo_ros</run_depend> + <run_depend>gazebo_ros_control</run_depend> + <run_depend>position_controllers</run_depend> <run_depend>robot_state_publisher</run_depend> <run_depend>rostopic</run_depend> - <run_depend>controller_manager</run_depend> + <run_depend>ur_e_description</run_depend> <export> diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml index 7ab8870..fb7b3d4 100644 --- a/ur_gazebo/controller/arm_controller_ur10.yaml +++ b/ur_gazebo/controller/arm_controller_ur10.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_gazebo/controller/arm_controller_ur3.yaml b/ur_gazebo/controller/arm_controller_ur3.yaml index 7ab8870..fb7b3d4 100644 --- a/ur_gazebo/controller/arm_controller_ur3.yaml +++ b/ur_gazebo/controller/arm_controller_ur3.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/controller/arm_controller_ur5.yaml index 7ab8870..fb7b3d4 100644 --- a/ur_gazebo/controller/arm_controller_ur5.yaml +++ b/ur_gazebo/controller/arm_controller_ur5.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10.launch index 182bb5c..bd422b9 100644 --- a/ur_gazebo/launch/ur10.launch +++ b/ur_gazebo/launch/ur10.launch @@ -21,7 +21,11 @@ <include file="$(find ur_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur10.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_gazebo/launch/ur3.launch b/ur_gazebo/launch/ur3.launch index 3b1cae6..076e1dc 100644 --- a/ur_gazebo/launch/ur3.launch +++ b/ur_gazebo/launch/ur3.launch @@ -21,7 +21,11 @@ <include file="$(find ur_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur3.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch index 347cd93..2dc3291 100644 --- a/ur_gazebo/launch/ur5.launch +++ b/ur_gazebo/launch/ur5.launch @@ -21,7 +21,11 @@ <include file="$(find ur_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_gazebo/package.xml b/ur_gazebo/package.xml index 0692d49..0bc1f0c 100644 --- a/ur_gazebo/package.xml +++ b/ur_gazebo/package.xml @@ -20,16 +20,16 @@ <buildtool_depend>catkin</buildtool_depend> <test_depend>roslaunch</test_depend> - <run_depend>ur_description</run_depend> + <run_depend>controller_manager</run_depend> + <run_depend>effort_controllers</run_depend> <run_depend>gazebo_ros</run_depend> <run_depend>gazebo_ros_control</run_depend> <run_depend>joint_state_controller</run_depend> <run_depend>joint_trajectory_controller</run_depend> - <run_depend>effort_controllers</run_depend> + <run_depend>position_controllers</run_depend> <run_depend>robot_state_publisher</run_depend> <run_depend>rostopic</run_depend> - <run_depend>controller_manager</run_depend> - + <run_depend>ur_description</run_depend> <export> </export> -- GitLab