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From: <ei...@us...> - 2009-09-03 21:35:58
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Revision: 23790
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23790&view=rev
Author: eitanme
Date: 2009-09-03 21:35:43 +0000 (Thu, 03 Sep 2009)
Log Message:
-----------
Fixing torso calibration
Modified Paths:
--------------
pkg/trunk/sandbox/mechanism_bringup/scripts/calibrate_pr2.py
pkg/trunk/stacks/pr2/pr2_default_controllers/pr2_joint_position_controllers.yaml
Modified: pkg/trunk/sandbox/mechanism_bringup/scripts/calibrate_pr2.py
===================================================================
--- pkg/trunk/sandbox/mechanism_bringup/scripts/calibrate_pr2.py 2009-09-03 21:31:32 UTC (rev 23789)
+++ pkg/trunk/sandbox/mechanism_bringup/scripts/calibrate_pr2.py 2009-09-03 21:35:43 UTC (rev 23790)
@@ -131,11 +131,12 @@
switch_controller([controller], [], SwitchControllerRequest.BEST_EFFORT)
break
+ else:
+ print 'Error spawning %s' % controller
except Exception, ex:
rospy.logerr("Failed to spawn holding controller %s on try %d: %s" % (controller, i+1, str(ex)))
- print "SENDING HOLD", controller, command
- pub = rospy.Publisher("%s/set_command" % controller, Float64,
+ pub = rospy.Publisher("%s/command" % controller, Float64,
SendMessageOnSubscribe(Float64(command)))
pub.publish(Float64(command))
@@ -212,6 +213,7 @@
hold('l_shoulder_lift', 1.0)
hold('torso_lift', 0.0)
+ sleep(1.0)
# Everything else
Modified: pkg/trunk/stacks/pr2/pr2_default_controllers/pr2_joint_position_controllers.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_default_controllers/pr2_joint_position_controllers.yaml 2009-09-03 21:31:32 UTC (rev 23789)
+++ pkg/trunk/stacks/pr2/pr2_default_controllers/pr2_joint_position_controllers.yaml 2009-09-03 21:35:43 UTC (rev 23790)
@@ -110,8 +110,8 @@
type: JointPositionController
joint: torso_lift_joint
pid:
- p: 1000000
- i: 0.0
- d: 10000
+ p: 100000000
+ i: 10000
+ d: 0.0
i_clamp: 100000.0
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