[Personalrobots-commit] SF.net SVN: personalrobots:[23099] pkg/trunk/sandbox/texas

[<wa...@us...>]

Revision: 23099
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23099&view=rev
Author:   wattsk
Date:     2009-08-27 03:05:34 +0000 (Thu, 27 Aug 2009)

Log Message:
-----------
running the dallas bot with the same base controller as the pr2 with just a new urdf :-)

Modified Paths:
--------------
    pkg/trunk/sandbox/texas/drive.launch
    pkg/trunk/sandbox/texas/texas.launch
    pkg/trunk/sandbox/texas/texas.xml

Added Paths:
-----------
    pkg/trunk/sandbox/texas/dallas_base_controller.yaml
    pkg/trunk/sandbox/texas/drive_base.launch

Added: pkg/trunk/sandbox/texas/dallas_base_controller.yaml
===================================================================
--- pkg/trunk/sandbox/texas/dallas_base_controller.yaml	                        (rev 0)
+++ pkg/trunk/sandbox/texas/dallas_base_controller.yaml	2009-08-27 03:05:34 UTC (rev 23099)
@@ -0,0 +1,46 @@
+caster_names: bl_caster_rotation_link
+
+type: Pr2BaseController
+
+caster_pid_gains: &caster_pid_gains
+  p: 3.0
+  d: 0.0
+  i: 0.1
+  i_clamp: 4.0
+wheel_pid_gains: &wheel_pid_gains
+  p: 2.0
+  d: 0.0
+  i: 0.01
+  i_clamp: 0.4
+
+bl_caster_l_wheel_joint:
+ *wheel_pid_gains
+bl_caster_r_wheel_joint:
+ *wheel_pid_gains
+
+bl_caster_rotation_joint:
+ *caster_pid_gains
+
+caster_speed_threshold: 0.2
+caster_position_error_threshold: 0.05
+wheel_speed_threshold: 0.2
+caster_effort_threshold: 3.45
+wheel_effort_threshold: 3.45
+kp_wheel_steer: 2.0
+alpha_stall: 0.5
+kp_caster_steer: 40.0
+timeout: 0.4
+max_accel: 
+ ax: 0.5
+ ay: 2.0 
+ alphaz: 2.0
+
+state_publish_time: 0.25
+
+max_vel: 
+ vx: 1.0
+ vy: 1.0 
+ omegaz: 2.0
+
+cmd_topic:
+ /cmd_vel
\ No newline at end of file

Modified: pkg/trunk/sandbox/texas/drive.launch
===================================================================
--- pkg/trunk/sandbox/texas/drive.launch	2009-08-27 03:02:49 UTC (rev 23098)
+++ pkg/trunk/sandbox/texas/drive.launch	2009-08-27 03:05:34 UTC (rev 23099)
@@ -3,23 +3,13 @@
   <rosparam command="load" file="$(find texas)/dallas.yaml" />
   <node pkg="mechanism_control" type="spawner.py" args="dallas_controller" />
 
-  <param name="walk_vel" value="0.20" />
-  <param name="run_vel" value="0.5" />
-  <param name="yaw_rate" value="0.3" />
-  <param name="yaw_run_rate" value="1.5" />
+  <!-- Swapping walk and run.  Run (Caps) is now super slow -->
+  <param name="walk_vel" value="0.4" />
+  <param name="run_vel" value="0.1" />
+  <param name="yaw_rate" value="0.5" />
+  <param name="yaw_run_rate" value="0.2" />
   <node pkg="teleop_pr2" type="teleop_pr2_keyboard" output="screen">
     <remap from="cmd_vel" to="/dallas_controller/cmd_vel" />
   </node>
   
-  <!--
-<rosparam command="load" file="$(find texas)/caster.yaml" />
-<node pkg="mechanism_control" type="spawner.py" args="caster_bl" />
-
-<node pkg="texas" type="tdrive.py" output="screen" />
-
-<node pkg="texas" type="teleop_texas_keyboard" output="screen" >
-  <param name="max_vel" type="double" value="6.0" />
-</node>
--->
-
 </launch>

Added: pkg/trunk/sandbox/texas/drive_base.launch
===================================================================
--- pkg/trunk/sandbox/texas/drive_base.launch	                        (rev 0)
+++ pkg/trunk/sandbox/texas/drive_base.launch	2009-08-27 03:05:34 UTC (rev 23099)
@@ -0,0 +1,14 @@
+<launch>
+
+  <rosparam command="load" file="$(find texas)/dallas_base_controller.yaml" ns="pr2_base_controller"/>
+  <node pkg="mechanism_control" type="spawner.py" args="pr2_base_controller" />
+
+  <!-- Swapping walk and run.  Run (Caps) is now super slow -->
+  <param name="walk_vel" value="0.4" />
+  <param name="run_vel" value="0.1" />
+  <param name="yaw_rate" value="0.5" />
+  <param name="yaw_run_rate" value="0.2" />
+  <node pkg="teleop_pr2" type="teleop_pr2_keyboard" output="screen">
+  </node>
+  
+</launch>

Modified: pkg/trunk/sandbox/texas/texas.launch
===================================================================
--- pkg/trunk/sandbox/texas/texas.launch	2009-08-27 03:02:49 UTC (rev 23098)
+++ pkg/trunk/sandbox/texas/texas.launch	2009-08-27 03:05:34 UTC (rev 23099)
@@ -8,7 +8,7 @@
 
   <!-- Definitions for calibration controllers -->
   <rosparam command="load" file="$(find pr2_default_controllers)/pr2_calibration_controllers.yaml" />
-  <node pkg="mechanism_bringup" type="calibrate.py" args="cal_caster_bl_alpha2"/>
+  <node pkg="mechanism_bringup" type="calibrate.py" args="cal_caster_bl"/>
 
 <!-- pr2_etherCAT -->
   <node machine="realtime_root" pkg="pr2_etherCAT" type="pr2_etherCAT" args="-i eth0 -x /robotdesc/pr2" output="screen"/>

Modified: pkg/trunk/sandbox/texas/texas.xml
===================================================================
--- pkg/trunk/sandbox/texas/texas.xml	2009-08-27 03:02:49 UTC (rev 23098)
+++ pkg/trunk/sandbox/texas/texas.xml	2009-08-27 03:05:34 UTC (rev 23099)
@@ -1,10 +1,10 @@
 <robot name="texas">
   <include filename="$(find pr2_defs)/calibration/default_cal.xml" />
-  <include filename="$(find pr2_defs)/defs/alpha2_base_defs.xml" />
+  <include filename="$(find pr2_defs)/defs/base_defs.xml" />
 
-<pr2_caster_alpha2 suffix="bl" parent="base_link" ref_position="-0.785">
-      <origin xyz="0 0 0" rpy="0 0 0" />
-</pr2_caster_alpha2>
+<pr2_caster suffix="bl" parent="base_link" ref_position="-0.785" >
+      <origin xyz="-0.43 0 0" rpy="0 0 0" />
+</pr2_caster>
 
   <!-- Solid Base for visualizer -->
   <joint name="base_joint" type="planar" />


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