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lines changed Original file line number Diff line number Diff line change @@ -73,12 +73,14 @@ INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
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INSTALL (FILES
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launch/controller.launch
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launch/sot_params.launch
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+ launch/sot_params.launch
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DESTINATION share/${PROJECT_NAME}/launch )
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# Install configuration files
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INSTALL (FILES
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config/controller.yaml
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config/sot_params.yaml
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+ config/sot_params_simu.yaml
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DESTINATION share/${PROJECT_NAME}/config )
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# Install default URDF file
Original file line number Diff line number Diff line change @@ -28,5 +28,5 @@ sot_controller:
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ros_control_mode : POSITION
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sot_control_mode : VELOCITY
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- dt : 0.01
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+ dt : 0.002
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jitter : 0.004
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+ sot_controller :
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+ libname : libsot-universal-robot-controller.so
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+ map_rc_to_sot_device :
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+ motor-angles : motor-angles
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+ joint-angles : joint-angles
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+ velocities : velocities
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+ forces : forces
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+ torques : torques
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+ control : control
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+
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+ control_mode :
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+ shoulder_pan_joint :
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+ ros_control_mode : POSITION
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+ sot_control_mode : VELOCITY
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+ shoulder_lift_joint :
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+ ros_control_mode : POSITION
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+ sot_control_mode : VELOCITY
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+ elbow_joint :
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+ ros_control_mode : POSITION
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+ sot_control_mode : VELOCITY
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+ wrist_1_joint :
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+ ros_control_mode : POSITION
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+ sot_control_mode : VELOCITY
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+ wrist_2_joint :
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+ ros_control_mode : POSITION
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+ sot_control_mode : VELOCITY
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+ wrist_3_joint :
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+ ros_control_mode : POSITION
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+ sot_control_mode : VELOCITY
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+
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+ dt : 0.01
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+ jitter : 0.004
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<launch >
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+ <arg name =" simulation" default =" false" />
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<include file =" $(find sot_universal_robot)/launch/sot_params.launch" />
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<!-- Sot Controller configuration -->
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- <rosparam command =" load"
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+ <rosparam command =" load" unless = " $(arg simulation) "
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file =" $(find sot_universal_robot)/config/sot_params.yaml" />
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- <rosparam command =" load" file =" $(find sot_universal_robot)/config/controller.yaml" />
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+ <rosparam command =" load" if =" $(arg simulation)"
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+ file =" $(find sot_universal_robot)/config/sot_params_simu.yaml" />
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+ <rosparam command =" load"
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+ file =" $(find sot_universal_robot)/config/controller.yaml" />
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<!-- Spawn sot controller -->
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<node name =" sot_controller_spawner"
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