91 lines
3.4 KiB
YAML
91 lines
3.4 KiB
YAML
# Author: Jonathan Sprinkle
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# Copyright (c) 2015 Arizona Board of Regents
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# All rights reserved.
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#
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# Permission is hereby granted, without written agreement and without
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# license or royalty fees, to use, copy, modify, and distribute this
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# software and its documentation for any purpose, provided that the
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# above copyright notice and the following two paragraphs appear in
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# all copies of this software.
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#
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# IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
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# FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
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# ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
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# IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
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# SUCH DAMAGE.
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#
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# THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
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# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
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# AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
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# IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
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# TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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# Summary:
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# This YAML file includes the controller connectivity for ROS-based control
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# through Gazebo. For more information and for the tutorials used to create
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# this file, see
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# http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
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# controls the rear two tires based on individual motors
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# Publish all joint states -----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50
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# Velocity Controllers ---------------------------------------
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# The left/right rear wheels are what moves the car. This
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# controller set uses PID for velocity set points
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joint1_velocity_controller:
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type: velocity_controllers/JointVelocityController
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joint: back_left_wheel_joint
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pid: {p: 100.0, i: 0.01, d: 10.0}
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joint2_velocity_controller:
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type: velocity_controllers/JointVelocityController
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joint: back_right_wheel_joint
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pid: {p: 100.0, i: 0.01, d: 10.0}
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# we are no longer using these controllers for angular rate
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# but we may reinstate them later
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#front_left_steering_controller:
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# type: velocity_controllers/JointVelocityController
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# joint: front_left_steering_joint
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# pid: {p: 100.0, i: 0.01, d: 10.0}
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#front_right_steering_controller:
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# type: velocity_controllers/JointVelocityController
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# joint: front_right_steering_joint
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# pid: {p: 100.0, i: 0.01, d: 10.0}
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# permits a set point for the steering (tire) angle, which
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# is enforced by these position controllers. The value is
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# set based on the dynamics of the controller, not an
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# instantaneous set for the position
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front_left_steering_position_controller:
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type: position_controllers/JointPositionController
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joint: front_left_steering_joint
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pid: {p: 100.0, i: 0.01, d: 10.0}
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front_right_steering_position_controller:
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type: position_controllers/JointPositionController
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joint: front_right_steering_joint
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pid: {p: 100.0, i: 0.01, d: 10.0}
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#gazebo_ros_control:
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# pid_gains:
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# back_left_wheel_joint:
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# p: 100.0
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# i: 0.01
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# d: 10.0
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# back_right_wheel_joint:
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# p: 100.0
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# i: 0.01
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# d: 10.0
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# front_left_steering_joint:
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# p: 100.0
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# i: 0.01
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# d: 10.0
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# front_right_steering_joint:
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# p: 100.0
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# i: 0.01
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# d: 10.0
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