[Personalrobots-commit] SF.net SVN: personalrobots:[23790] pkg/trunk

[<ei...@us...>]

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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