Add group_pid controller.

diff --git a/q2d_bringup/config/group_pid.yaml b/q2d_bringup/config/group_pid.yaml
new file mode 100644 (file)
index 0000000..c6317f2
--- /dev/null
+++ b/q2d_bringup/config/group_pid.yaml
@@ -0,0 +1,11 @@
+group_controller:
+        type: effort_controllers/JointGroupEffortController
+        joints:
+                - shoulder_active_joint
+                - elbow_active_joint
+        shoulder_active_joint/pid: {p: 2310, i: 4640, d: 0.299}
+        elbow_active_joint/pid: {p: 339, i: 851, d: 0.351}
+
+joint_states_publisher:
+        type: joint_state_controller/JointStateController
+        publish_rate: 100

diff --git a/q2d_bringup/config/pid.yaml b/q2d_bringup/config/pid.yaml
index 5d0200c..6ef84b6 100644 (file)
--- a/q2d_bringup/config/pid.yaml
+++ b/q2d_bringup/config/pid.yaml
@@ -1,7 +1,7 @@
 shoulder_controller:
         type: effort_controllers/JointPositionController
         joint: shoulder_active_joint
-        pid: {p: 2310, i: 4640, d: 0.299}   
+        pid: {p: 2310, i: 4640, d: 0.299}
 
 elbow_controller:
         type: effort_controllers/JointPositionController

diff --git a/q2d_bringup/launch/group_bypass.launch b/q2d_bringup/launch/group_bypass.launch
deleted file mode 100644 (file)
index 89dd4cdcf9bfe82973c6c12bf7655201a5fea432..0000000000000000000000000000000000000000
--- a/q2d_bringup/launch/group_bypass.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-       <node name="controller_spawner" pkg="controller_manager"
-               type="spawner" respawn="false" output="screen"
-               args="group_controller joint_states_publisher" />
-</launch>

diff --git a/q2d_bringup/launch/group_bypass.launch b/q2d_bringup/launch/group_bypass.launch
new file mode 120000 (symlink)
index 0000000000000000000000000000000000000000..2f8f7994d6e00e685ae301945f1682ddc5afa9e1
--- /dev/null
+++ b/q2d_bringup/launch/group_bypass.launch
@@ -0,0 +1 @@
+group_ijc.launch
\ No newline at end of file

diff --git a/q2d_bringup/launch/group_ijc.launch b/q2d_bringup/launch/group_ijc.launch
new file mode 100644 (file)
index 0000000..89dd4cd
--- /dev/null
+++ b/q2d_bringup/launch/group_ijc.launch
@@ -0,0 +1,5 @@
+<launch>
+       <node name="controller_spawner" pkg="controller_manager"
+               type="spawner" respawn="false" output="screen"
+               args="group_controller joint_states_publisher" />
+</launch>

diff --git a/q2d_bringup/launch/group_pid.launch b/q2d_bringup/launch/group_pid.launch
new file mode 120000 (symlink)
index 0000000..2f8f799
--- /dev/null
+++ b/q2d_bringup/launch/group_pid.launch
@@ -0,0 +1 @@
+group_ijc.launch
\ No newline at end of file