From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 20 Nov 2019 04:51:41 +0000 (-0300)
Subject: Add independent joint controller configuration.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=cf70d101074699b87415b4f0006b4f1e9c9ee4dd;p=ufrgs_wam.git

Add independent joint controller configuration.
---

diff --git a/wam_bringup/config/pid_independent_joint_controller.yaml b/wam_bringup/config/pid_independent_joint_controller.yaml
new file mode 100644
index 0000000..645fd1a
--- /dev/null
+++ b/wam_bringup/config/pid_independent_joint_controller.yaml
@@ -0,0 +1,23 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 250
+
+pid_independent_joint_controller:
+  type: effort_controllers/JointGroupPositionController
+  joints:
+    - wam_joint_1
+    - wam_joint_2
+    - wam_joint_3
+    - wam_joint_4
+    - wam_joint_5
+    - wam_joint_6
+    - wam_joint_7
+# PID parameters from /etc/barrett/wam7w.conf
+  wam_joint_1/pid: {p: 900.0, i: 2.5, d: 10.0, i_clamp: 25.0}
+  wam_joint_2/pid: {p: 2500.0, i: 5.0, d: 20.0, i_clamp: 20.0}
+  wam_joint_3/pid: {p: 600.0, i: 2.0, d: 5.0, i_clamp: 15.0}
+  wam_joint_4/pid: {p: 500.0, i: 0.5, d: 2.0, i_clamp: 15.0}
+  wam_joint_5/pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0}
+  wam_joint_6/pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0}
+  wam_joint_7/pid: {p: 8.0, i: 0.1, d: 0.05, i_clamp: 5.0}
+   
\ No newline at end of file