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Fix motor names #255

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Merged
merged 4 commits into from
Mar 9, 2023
Merged

Fix motor names #255

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07345f8
Fix motor names
MarijaGolubovic Mar 9, 2023
4ba73dc
fix motion
MarijaGolubovic Mar 9, 2023
2f07f0f
integrate robot hardware
MarijaGolubovic Mar 9, 2023
44f7ed4
Merge branch 'main' into fix-motor-names
MarijaGolubovic Mar 9, 2023
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2 changes: 1 addition & 1 deletion mep3_behavior/strategies/big_strategy_demo.xml
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Expand Up @@ -8,7 +8,7 @@
<AddObstacle label="initial"
polygon="0.0;0.0|-0.2;0.0|0.0;-0.2"/>
<RemoveObstacle label="initial"/>
<JointPosition instance="arm_joint"
<JointPosition instance="m6"
max_velocity="90"
position="-90"
tolerance="0.3"/>
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2 changes: 1 addition & 1 deletion mep3_bringup/mep3_bringup/launch_utils.py
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Expand Up @@ -30,7 +30,7 @@ def get_controller_spawners(controller_params_file):
'--controller-manager-timeout',
'50',
'--controller-manager',
f'{namespace}/controller_manager',
'controller_manager',
],
namespace=namespace)
)
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2 changes: 1 addition & 1 deletion mep3_controllers/src/joint_position_controller.cpp
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Expand Up @@ -105,7 +105,7 @@ namespace mep3_controllers

controller_interface::return_type JointPositionController::update(const rclcpp::Time &time, const rclcpp::Duration & /* period */)
{
// ros2 action send_goal /big/joint_position_command/arm_joint mep3_msgs/action/JointPositionCommand "{ position: -1.57 }"
// ros2 action send_goal /big/joint_position_command/m6 mep3_msgs/action/JointPositionCommand "{ position: -1.57 }"

for (std::shared_ptr<Joint> joint : joints_)
{
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1 change: 0 additions & 1 deletion mep3_hardware/launch/hardware_launch.py
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Expand Up @@ -95,7 +95,6 @@ def launch_setup(context, *args, **kwargs):
socketcan_bridge,
cinch_driver,
lidar_rplidar,
pumps_driver,
lcd_driver,
] + get_controller_spawners(controller_params_file)

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7 changes: 6 additions & 1 deletion mep3_hardware/resource/big_controllers.yaml
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Expand Up @@ -15,7 +15,12 @@ big:
joint_position_controller:
ros__parameters:
joints:
- arm_joint
- m5
- m6
- m7
- m8
- m9
- m10

pump_controller:
ros__parameters:
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73 changes: 73 additions & 0 deletions mep3_hardware/resource/big_description.urdf
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Expand Up @@ -22,4 +22,77 @@
<command_interface name="velocity" />
</joint>
</ros2_control>
<ros2_control name="gpio" type="system">
<hardware>
<plugin>mep3_hardware::CanGpioHardwareInterface</plugin>
<param name="interface_name">can0</param>
<param name="can_id">0x00006C01</param>
<param name="can_mask">0x1FFFFFF8</param>
</hardware>
<gpio name="pump1_pump">
<param name="index">0</param>
<command_interface name="output"/>
</gpio>
<gpio name="pump1_valve">
<param name="index">6</param>
<command_interface name="output"/>
</gpio>
</ros2_control>
<ros2_control name="dynamixels" type="system">
<hardware>
<plugin>dynamixel_hardware/DynamixelHardware</plugin>
<param name="usb_port">/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A50285BI-if00-port0</param>
<param name="baud_rate">115200</param>
<param name="use_dummy">false</param>
<param name="offset">2.618</param>
</hardware>
<joint name="m7">
<param name="id">3</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="m5">
<param name="id">7</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="m9">
<param name="id">8</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="m10">
<param name="id">14</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="m8">
<param name="id">9</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="m6">
<param name="id">55</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</ros2_control>
</robot>
12 changes: 6 additions & 6 deletions mep3_hardware/test/dynamixels_and_pump/controllers.yaml
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Expand Up @@ -14,9 +14,9 @@ pump_controller:
joint_position_controller:
ros__parameters:
joints:
- joint_cherry_vertical
- joint_left_right
- joint_cake_vertical
- joint_cake_left_gripper
- joint_cake_right_gripper
- joint_cherry_gripper
- m5
- m6
- m7
- m8
- m9
- m10
12 changes: 6 additions & 6 deletions mep3_hardware/test/dynamixels_and_pump/description.urdf
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Expand Up @@ -24,47 +24,47 @@
<param name="use_dummy">false</param>
<param name="offset">2.618</param>
</hardware>
<joint name="joint_cherry_gripper">
<joint name="m7">
<param name="id">3</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint_cherry_vertical">
<joint name="m5">
<param name="id">7</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint_cake_left_gripper">
<joint name="m9">
<param name="id">8</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint_cake_right_gripper">
<joint name="m10">
<param name="id">14</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint_cake_vertical">
<joint name="m8">
<param name="id">9</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint_left_right">
<joint name="m6">
<param name="id">55</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
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48 changes: 47 additions & 1 deletion mep3_simulation/resource/big_description.urdf
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Expand Up @@ -31,7 +31,7 @@
<command_interface name="velocity" />
<param name="sensor">right_encoder</param>
</joint>
<joint name="arm_joint">
<joint name="m6">
<command_interface name="position" />
<command_interface name="velocity" />
<state_interface name="position" />
Expand All @@ -48,4 +48,50 @@
<command_interface name="output" />
</gpio>
</ros2_control>
<ros2_control name="dynamixels" type="system">
<hardware>
<plugin>dynamixel_hardware/DynamixelHardware</plugin>
<param name="use_dummy">true</param>
</hardware>
<joint name="m7">
<param name="id">3</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="m5">
<param name="id">7</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="m9">
<param name="id">8</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="m10">
<param name="id">14</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="m8">
<param name="id">9</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</ros2_control>
</robot>
2 changes: 1 addition & 1 deletion mep3_simulation/webots_data/worlds/eurobot.wbt
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Expand Up @@ -450,7 +450,7 @@ DEF ROBOT_BIG GenericRobot {
}
device [
RotationalMotor {
name "arm_joint"
name "m6"
controlPID 1000 0 0
minPosition -3.14
maxTorque 1000
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