From d6c38c41a8d165aa152a022aa06c2c808f1cd8d7 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 8 Sep 2020 04:35:24 -0300
Subject: [PATCH] Add config and launch files moved from
 linearizing_controllers and nonsmooth_backstep_controller.

---
 .../config/nonsmooth_backstep_controller.yaml       | 21 +++++++++++++++++++++
 .../config/nonsmooth_backstep_controller_step.yaml  | 21 +++++++++++++++++++++
 .../launch/adaptive_dynamics_linearizing.launch     |  8 ++++++++
 .../launch/adaptive_nonsmooth_backstep.launch       |  9 +++++++++
 twil_bringup/launch/gazebo8.launch                  |  2 +-
 twil_bringup/launch/nonsmooth_backstep.launch       |  6 ++++++
 6 files changed, 66 insertions(+), 1 deletion(-)
 create mode 100644 twil_bringup/config/nonsmooth_backstep_controller.yaml
 create mode 100644 twil_bringup/config/nonsmooth_backstep_controller_step.yaml
 create mode 100644 twil_bringup/launch/adaptive_dynamics_linearizing.launch
 create mode 100644 twil_bringup/launch/adaptive_nonsmooth_backstep.launch
 create mode 100644 twil_bringup/launch/nonsmooth_backstep.launch

diff --git a/twil_bringup/config/nonsmooth_backstep_controller.yaml b/twil_bringup/config/nonsmooth_backstep_controller.yaml
new file mode 100644
index 0000000..cd3137d
--- /dev/null
+++ b/twil_bringup/config/nonsmooth_backstep_controller.yaml
@@ -0,0 +1,21 @@
+# Watch-out: The indentation here is relevant to the semantic!
+
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 100
+
+nonsmooth_backstep_controller:
+  type: effort_controllers/NonSmoothBackstepController
+  joints:
+    - left_wheel_joint
+    - right_wheel_joint
+  F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
+  G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
+  lambda: [200.0, 6.0, 6.0, 500.0, 1000.0]
+  gamma: [10.0, 1.0, 10.0, 50.0]
+  wheel_separation: 0.322
+  wheel_radius: [0.075, 0.075]
+  odom_frame_id: "odom"
+  base_frame_id: "twil_origin"
+  priority: 99
+  time_step: 0.01
diff --git a/twil_bringup/config/nonsmooth_backstep_controller_step.yaml b/twil_bringup/config/nonsmooth_backstep_controller_step.yaml
new file mode 100644
index 0000000..7a11ee2
--- /dev/null
+++ b/twil_bringup/config/nonsmooth_backstep_controller_step.yaml
@@ -0,0 +1,21 @@
+# Watch-out: The indentation here is relevant to the semantic!
+
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 100
+
+nonsmooth_backstep_controller:
+  type: effort_controllers/NonSmoothBackstepController
+  joints:
+    - left_wheel_joint
+    - right_wheel_joint
+  F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
+  G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
+  lambda: [200.0, 40.0, 40.0, 500.0, 1000.0]
+  gamma: [10.0, 1.0, 10.0, 50.0]
+  wheel_separation: 0.322
+  wheel_radius: [0.075, 0.075]
+  odom_frame_id: "odom"
+  base_frame_id: "twil_origin"
+  priority: 99
+  time_step: 0.01
diff --git a/twil_bringup/launch/adaptive_dynamics_linearizing.launch b/twil_bringup/launch/adaptive_dynamics_linearizing.launch
new file mode 100644
index 0000000..09c0561
--- /dev/null
+++ b/twil_bringup/launch/adaptive_dynamics_linearizing.launch
@@ -0,0 +1,8 @@
+<launch>
+  <node name="ident" pkg="twil_ident" type="ident" output="screen">
+	<remap from="ident/dynamic_parameters" to="adaptive_linearizing_controller/dynamic_parameters"/>
+  </node>
+
+  <include file="$(find twil_bringup)/launch/dynamics_linearizing_controller.launch" />
+
+</launch>
diff --git a/twil_bringup/launch/adaptive_nonsmooth_backstep.launch b/twil_bringup/launch/adaptive_nonsmooth_backstep.launch
new file mode 100644
index 0000000..75a68fc
--- /dev/null
+++ b/twil_bringup/launch/adaptive_nonsmooth_backstep.launch
@@ -0,0 +1,9 @@
+<launch>
+
+  <node name="ident" pkg="twil_ident" type="ident" output="screen">
+	<remap from="ident/dynamic_parameters" to="nonsmooth_backstep_controller/dynamic_parameters"/>
+  </node>
+
+  <include file="$(find twil_bringup)/launch/nonsmooth_backstep_controller.launch" />
+
+</launch>
diff --git a/twil_bringup/launch/gazebo8.launch b/twil_bringup/launch/gazebo8.launch
index bd0af82..34c9502 100644
--- a/twil_bringup/launch/gazebo8.launch
+++ b/twil_bringup/launch/gazebo8.launch
@@ -13,7 +13,7 @@
 		<arg name="wam" value="$(arg wam)"/>
 	</include>
 
-  <include file="$(find nonsmooth_backstep_controller)/launch/nonsmooth_backstep.launch" />
+  <include file="$(find twil_bringup)/launch/nonsmooth_backstep.launch" />
 
   <node name="eight_trajectory" pkg="pose2d_trajectories" type="eight_trajectory" respawn="false" output="screen" args="_x:=0.0 _y:=-0.5  _radius:=1.0 _ang_vel:=0.1"/>
 
diff --git a/twil_bringup/launch/nonsmooth_backstep.launch b/twil_bringup/launch/nonsmooth_backstep.launch
new file mode 100644
index 0000000..76b9f4a
--- /dev/null
+++ b/twil_bringup/launch/nonsmooth_backstep.launch
@@ -0,0 +1,6 @@
+<launch>
+  <rosparam file="$(find twil_bringup)/config/nonsmooth_backstep_controller.yaml" command="load"/>
+
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="joint_state_controller nonsmooth_backstep_controller"/>
+</launch>
-- 
2.12.0