[Personalrobots-commit] SF.net SVN: personalrobots:[15769] pkg/trunk

[<stu...@us...>]

Revision: 15769
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=15769&view=rev
Author:   stuglaser
Date:     2009-05-20 07:38:12 +0000 (Wed, 20 May 2009)

Log Message:
-----------
More controller tuning

Modified Paths:
--------------
    pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp
    pkg/trunk/demos/milestone2/milestone2_actions/config/controllers.xml

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp	2009-05-20 06:50:34 UTC (rev 15768)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_hybrid_controller.cpp	2009-05-20 07:38:12 UTC (rev 15769)
@@ -542,6 +542,7 @@
   tf::Transform tool_in_tip;
   TF.transformPose(c_.chain_.getLinkName(-1), req.p, tool_in_tip_msg);
   tf::PoseMsgToTF(tool_in_tip_msg.pose, tool_in_tip);
+  tool_in_tip.setOrigin(tf::Vector3(0,0,0));
   tf::TransformTFToKDL(tool_in_tip, c_.tool_frame_offset_);
   double rpy[3]; c_.tool_frame_offset_.M.GetRPY(rpy[0], rpy[1], rpy[2]);
   ROS_INFO("(%.3lf, %.3lf, %.3lf)@(%.2lf, %.2lf, %.2lf)",

Modified: pkg/trunk/demos/milestone2/milestone2_actions/config/controllers.xml
===================================================================
--- pkg/trunk/demos/milestone2/milestone2_actions/config/controllers.xml	2009-05-20 06:50:34 UTC (rev 15768)
+++ pkg/trunk/demos/milestone2/milestone2_actions/config/controllers.xml	2009-05-20 07:38:12 UTC (rev 15769)
@@ -148,15 +148,15 @@
     <param name="initial_mode" value="3" />
     <group ns="pose">
       <group ns="fb_trans">
-        <param name="p" value="200" />
-        <param name="i" value="100" />
-        <param name="d" value="0.15" />
-        <param name="i_clamp" value="10" />
+        <param name="p" value="400" />
+        <param name="i" value="400" />
+        <param name="d" value="15" />
+        <param name="i_clamp" value="4" />
       </group>
       <group ns="fb_rot">
         <param name="p" value="15" />
         <param name="i" value="0" />
-        <param name="d" value="0.15" />
+        <param name="d" value="1.2" />
         <param name="i_clamp" value="0" />
       </group>
     </group>


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