From db89262ecd773d7e314d67bf7d18379f4637277e Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 18 Nov 2018 04:58:20 -0200
Subject: [PATCH] Change actuators to D.C. motors.

---
 tatuira_bringup/CMakeLists.txt                  |  2 +-
 tatuira_bringup/config/bypass.yaml              | 15 +++++++++++++--
 tatuira_bringup/config/pid.yaml                 | 15 +++++++++++++--
 tatuira_bringup/package.xml                     |  4 ++--
 tatuira_description/xacro/back.urdf.xacro       |  2 +-
 tatuira_description/xacro/link_joint.urdf.xacro |  1 +
 tatuira_description/xacro/main.urdf.xacro       |  1 +
 7 files changed, 32 insertions(+), 8 deletions(-)

diff --git a/tatuira_bringup/CMakeLists.txt b/tatuira_bringup/CMakeLists.txt
index ae15541..118934a 100644
--- a/tatuira_bringup/CMakeLists.txt
+++ b/tatuira_bringup/CMakeLists.txt
@@ -8,7 +8,7 @@ project(tatuira_bringup)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
-  effort_controllers
+  voltage_controllers
   joint_state_controller
 #  linearizing_controllers
 #  linearizing_controllers_msgs
diff --git a/tatuira_bringup/config/bypass.yaml b/tatuira_bringup/config/bypass.yaml
index cc6b5ee..3091f14 100644
--- a/tatuira_bringup/config/bypass.yaml
+++ b/tatuira_bringup/config/bypass.yaml
@@ -1,11 +1,22 @@
 right_wheel_controller:
-        type: effort_controllers/JointEffortController
+        type: voltage_controllers/JointVoltageController
         joint: right_rim_joint
 
 left_wheel_controller:
-        type: effort_controllers/JointEffortController
+        type: voltage_controllers/JointVoltageController
         joint: left_rim_joint
 
 joint_states_publisher:
         type: joint_state_controller/JointStateController
         publish_rate: 100
+
+gazebo_ros_electrical:
+        dcmotor:
+                right_rim_joint:
+                        Ra: 0.3434
+                        La: 3.16
+                        Kt: 0.0899
+                left_rim_joint:
+                        Ra: 0.3434
+                        La: 3.16
+                        Kt: 0.0899
diff --git a/tatuira_bringup/config/pid.yaml b/tatuira_bringup/config/pid.yaml
index 8494efa..ceb1bad 100644
--- a/tatuira_bringup/config/pid.yaml
+++ b/tatuira_bringup/config/pid.yaml
@@ -1,13 +1,24 @@
 right_wheel_controller:
-        type: effort_controllers/JointVelocityController
+        type: voltage_controllers/JointVelocityController
         joint: right_rim_joint
         pid: {p: 0, i: 0, d: 0}   
 
 left_wheel_controller:
-        type: effort_controllers/JointVelocityController
+        type: voltage_controllers/JointVelocityController
         joint: left_rim_joint
         pid: {p: 0, i: 0, d: 0}
 
 joint_states_publisher:
         type: joint_state_controller/JointStateController
         publish_rate: 100
+
+gazebo_ros_electrical:
+        dcmotor:
+                right_rim_joint:
+                        Ra: 0.3434
+                        La: 3.16
+                        Kt: 0.0899
+                left_rim_joint:
+                        Ra: 0.3434
+                        La: 3.16
+                        Kt: 0.0899
diff --git a/tatuira_bringup/package.xml b/tatuira_bringup/package.xml
index ccb4945..cfd1ae2 100644
--- a/tatuira_bringup/package.xml
+++ b/tatuira_bringup/package.xml
@@ -41,14 +41,14 @@
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>effort_controllers</build_depend>
+  <build_depend>voltage_controllers</build_depend>
   <build_depend>joint_state_controller</build_depend>
   <!--
   <build_depend>linearizing_controllers</build_depend>
   <build_depend>linearizing_controllers_msgs</build_depend>
   <build_depend>nonsmooth_backstep_controller</build_depend>
   -->
-  <run_depend>effort_controllers</run_depend>
+  <run_depend>voltage_controllers</run_depend>
   <run_depend>joint_state_controller</run_depend>
   <!--
   <run_depend>linearizing_controllers</run_depend>
diff --git a/tatuira_description/xacro/back.urdf.xacro b/tatuira_description/xacro/back.urdf.xacro
index 0976ed7..ba1a181 100644
--- a/tatuira_description/xacro/back.urdf.xacro
+++ b/tatuira_description/xacro/back.urdf.xacro
@@ -166,7 +166,7 @@
 		<transmission name="${name}_transmission">
 			<type>transmission_interface/SimpleTransmission"</type>
 			<joint name="${name}_rim_joint">
-				<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+				<hardwareInterface>electrical_interface/VoltageJointInterface</hardwareInterface>
 			</joint>
 			<actuator name="${name}_motor">
 				<mechanicalReduction>1</mechanicalReduction>
diff --git a/tatuira_description/xacro/link_joint.urdf.xacro b/tatuira_description/xacro/link_joint.urdf.xacro
index 0f01741..5d3000f 100644
--- a/tatuira_description/xacro/link_joint.urdf.xacro
+++ b/tatuira_description/xacro/link_joint.urdf.xacro
@@ -46,6 +46,7 @@
 			<child link="${name}_link"/>
 			<axis xyz="${axis}"/>
 			<origin xyz="${xyz}" rpy="${rpy}" />
+			<limit effort="3.2" velocity="387.46" />
 		</joint>
 		
 		<gazebo reference="${name}_link">
diff --git a/tatuira_description/xacro/main.urdf.xacro b/tatuira_description/xacro/main.urdf.xacro
index 1933c09..a703853 100644
--- a/tatuira_description/xacro/main.urdf.xacro
+++ b/tatuira_description/xacro/main.urdf.xacro
@@ -73,6 +73,7 @@
 	<gazebo>
 		<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
 			<!--<robotNamespace>/tatuira</robotNamespace>-->
+			<robotSimType>gazebo_ros_electrical/DCmotorRobotHWSim</robotSimType>
 			<controlPeriod>0.001</controlPeriod>
 		</plugin>
 	</gazebo>
-- 
2.12.0