From ed545fb8fe7d342ddd686033070745506a06e668 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 10 May 2019 05:25:40 -0300
Subject: [PATCH] Add linarizing controllers configuration.

---
 .../config/dynamics_linearizing_controller.yaml      | 19 +++++++++++++++++++
 .../config/twist_mrac_linearizing_controller.yaml    | 20 ++++++++++++++++++++
 .../launch/dynamics_linearizing_controller.launch    |  6 ++++++
 .../launch/twist_mrac_linearizing_controller.launch  |  6 ++++++
 4 files changed, 51 insertions(+)
 create mode 100644 twil_bringup/config/dynamics_linearizing_controller.yaml
 create mode 100644 twil_bringup/config/twist_mrac_linearizing_controller.yaml
 create mode 100644 twil_bringup/launch/dynamics_linearizing_controller.launch
 create mode 100644 twil_bringup/launch/twist_mrac_linearizing_controller.launch

diff --git a/twil_bringup/config/dynamics_linearizing_controller.yaml b/twil_bringup/config/dynamics_linearizing_controller.yaml
new file mode 100644
index 0000000..0164381
--- /dev/null
+++ b/twil_bringup/config/dynamics_linearizing_controller.yaml
@@ -0,0 +1,19 @@
+# Watch-out: The indentation here is relevant to the semantic!
+
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 100
+
+dynamics_linearizing_controller:
+  type: effort_controllers/DynamicsLinearizingController
+  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]
+  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/twist_mrac_linearizing_controller.yaml b/twil_bringup/config/twist_mrac_linearizing_controller.yaml
new file mode 100644
index 0000000..f8cc905
--- /dev/null
+++ b/twil_bringup/config/twist_mrac_linearizing_controller.yaml
@@ -0,0 +1,20 @@
+# Watch-out: The indentation here is relevant to the semantic!
+
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 100
+
+twist_mrac_linearizing_controller:
+  type: effort_controllers/TwistMracLinearizingController
+  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]
+  Alpha: [10.0, 10.0]
+  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/dynamics_linearizing_controller.launch b/twil_bringup/launch/dynamics_linearizing_controller.launch
new file mode 100644
index 0000000..6155e53
--- /dev/null
+++ b/twil_bringup/launch/dynamics_linearizing_controller.launch
@@ -0,0 +1,6 @@
+<launch>
+  <rosparam file="$(find twil_bringup)/config/dynamics_linearizing_controller.yaml" command="load"/>
+
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="joint_state_controller dynamics_linearizing_controller"/>
+</launch>
diff --git a/twil_bringup/launch/twist_mrac_linearizing_controller.launch b/twil_bringup/launch/twist_mrac_linearizing_controller.launch
new file mode 100644
index 0000000..9c45ed6
--- /dev/null
+++ b/twil_bringup/launch/twist_mrac_linearizing_controller.launch
@@ -0,0 +1,6 @@
+<launch>
+  <rosparam file="$(find twil_bringup)/config/twist_mrac_linearizing_controller.yaml" command="load"/>
+
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="joint_state_controller twist_mrac_linearizing_controller"/>
+</launch>
-- 
2.12.0