From: Walter Fetter Lages Date: Thu, 10 Sep 2020 04:59:07 +0000 (-0300) Subject: Ad passive joints as extra_joints in configuration of joint_state_controller in yaml... X-Git-Tag: raulTCC~12 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=7319afb423ec3f66c66a5962dd5791d4ba72f850;p=twil.git Ad passive joints as extra_joints in configuration of joint_state_controller in yaml files. --- diff --git a/twil_bringup/config/dynamics_linearizing_controller.yaml b/twil_bringup/config/dynamics_linearizing_controller.yaml index 0164381..d228ddb 100644 --- a/twil_bringup/config/dynamics_linearizing_controller.yaml +++ b/twil_bringup/config/dynamics_linearizing_controller.yaml @@ -3,6 +3,11 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 100 + extra_joints: + - name: caster_wheel_joint + - name: caster_base_joint + - name: front_caster_wheel_joint + - name: front_caster_base_joint dynamics_linearizing_controller: type: effort_controllers/DynamicsLinearizingController diff --git a/twil_bringup/config/joint_effort_controller.yaml b/twil_bringup/config/joint_effort_controller.yaml index 7057b71..bd28cfc 100644 --- a/twil_bringup/config/joint_effort_controller.yaml +++ b/twil_bringup/config/joint_effort_controller.yaml @@ -1,6 +1,11 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 100 + extra_joints: + - name: caster_wheel_joint + - name: caster_base_joint + - name: front_caster_wheel_joint + - name: front_caster_base_joint left_wheel_joint_effort_controller: type: effort_controllers/JointEffortController diff --git a/twil_bringup/config/joint_velocity_controller.yaml b/twil_bringup/config/joint_velocity_controller.yaml index d5fd24c..15fe54a 100644 --- a/twil_bringup/config/joint_velocity_controller.yaml +++ b/twil_bringup/config/joint_velocity_controller.yaml @@ -1,6 +1,11 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 100 + extra_joints: + - name: caster_wheel_joint + - name: caster_base_joint + - name: front_caster_wheel_joint + - name: front_caster_base_joint left_wheel_joint_velocity_controller: type: effort_controllers/JointVelocityController diff --git a/twil_bringup/config/nonsmooth_backstep_controller.yaml b/twil_bringup/config/nonsmooth_backstep_controller.yaml index cd3137d..14acf94 100644 --- a/twil_bringup/config/nonsmooth_backstep_controller.yaml +++ b/twil_bringup/config/nonsmooth_backstep_controller.yaml @@ -3,6 +3,11 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 100 + extra_joints: + - name: caster_wheel_joint + - name: caster_base_joint + - name: front_caster_wheel_joint + - name: front_caster_base_joint nonsmooth_backstep_controller: type: effort_controllers/NonSmoothBackstepController diff --git a/twil_bringup/config/nonsmooth_backstep_controller_step.yaml b/twil_bringup/config/nonsmooth_backstep_controller_step.yaml index 7a11ee2..eaa5656 100644 --- a/twil_bringup/config/nonsmooth_backstep_controller_step.yaml +++ b/twil_bringup/config/nonsmooth_backstep_controller_step.yaml @@ -3,6 +3,11 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 100 + extra_joints: + - name: caster_wheel_joint + - name: caster_base_joint + - name: front_caster_wheel_joint + - name: front_caster_base_joint nonsmooth_backstep_controller: type: effort_controllers/NonSmoothBackstepController diff --git a/twil_bringup/config/twist_mrac_linearizing_controller.yaml b/twil_bringup/config/twist_mrac_linearizing_controller.yaml index f8cc905..89cbf19 100644 --- a/twil_bringup/config/twist_mrac_linearizing_controller.yaml +++ b/twil_bringup/config/twist_mrac_linearizing_controller.yaml @@ -3,6 +3,11 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 100 + extra_joints: + - name: caster_wheel_joint + - name: caster_base_joint + - name: front_caster_wheel_joint + - name: front_caster_base_joint twist_mrac_linearizing_controller: type: effort_controllers/TwistMracLinearizingController