updated ur16e controllers to changes on master branch

Author: Felix Exner

ur_robot_driver/config/ur16e_controllers.yaml

@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 500
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint
@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-scaled_pos_traj_controller:
+scaled_pos_joint_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -45,7 +45,7 @@ scaled_pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 10
 
-pos_traj_controller:
+pos_joint_traj_controller:
    type: position_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -60,3 +60,77 @@ pos_traj_controller:
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
    action_monitor_rate: 10
+
+scaled_vel_joint_traj_controller:
+   type: velocity_controllers/ScaledJointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+      elbow_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+   gains:
+      #!!These values have not been optimized!!
+      shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      shoulder_lift_joint: {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      elbow_joint:         {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+   # Use a feedforward term to reduce the size of PID gains
+   velocity_ff:
+      shoulder_pan_joint: 1.0
+      shoulder_lift_joint: 1.0
+      elbow_joint: 1.0
+      wrist_1_joint: 1.0
+      wrist_2_joint: 1.0
+      wrist_3_joint: 1.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
+
+vel_joint_traj_controller:
+   type: velocity_controllers/JointTrajectoryController
+   joints: *robot_joints
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+      elbow_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+   gains:
+      #!!These values have not been optimized!!
+      shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      shoulder_lift_joint: {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      elbow_joint:         {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+   # Use a feedforward term to reduce the size of PID gains
+   velocity_ff:
+      shoulder_pan_joint: 1.0
+      shoulder_lift_joint: 1.0
+      elbow_joint: 1.0
+      wrist_1_joint: 1.0
+      wrist_2_joint: 1.0
+      wrist_3_joint: 1.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
+
+# Pass an array of joint velocities directly to the joints
+joint_group_vel_controller:
+   type: velocity_controllers/JointGroupVelocityController
+   joints: *robot_joints
+
+robot_status_controller:
+   type: industrial_robot_status_controller/IndustrialRobotStatusController
+   handle_name: industrial_robot_status_handle
+   publish_rate: 10

ur_robot_driver/launch/ur16e_bringup.launch

@@ -6,8 +6,8 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_joint_traj_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur16e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_description)/launch/load_ur16e.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur16e/default_kinematics.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>