From 5584c622ae6896c7fa0ecf9268cc2228f07a0ada Mon Sep 17 00:00:00 2001 From: rickstaa Date: Mon, 21 Mar 2022 17:16:16 +0100 Subject: [PATCH] fix: fix dual panda motion generator PID gains not found bug This commit makes sure that the 'arm_id' is taken into account when the motion generator PID gains are loaded onto the ROS parameter server. --- CHANGELOG.md | 1 + franka_gazebo/config/franka_hw_sim.yaml | 28 ++++++++++++------------- 2 files changed, 15 insertions(+), 14 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 43a0d374..ad2c1e2b 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,7 @@ * `franka_example_controllers`: Extend the `teleop_joint_pd_example_controller` with joint walls to actively avoid position or velocity limit violations. * `franka_control`: Configurable `arm_id` in launch & config files * `franka_description`: URDF now contains `$(arm_id)_linkN_sc` links containing the capsule collision modules used for self-collision avoidance (MoveIt). + * `franka_gazebo`: Fix motion generator config respects `arm_id` ## 0.9.0 - 2022-03-29 diff --git a/franka_gazebo/config/franka_hw_sim.yaml b/franka_gazebo/config/franka_hw_sim.yaml index 7e0e0b3d..bcbb6b60 100644 --- a/franka_gazebo/config/franka_hw_sim.yaml +++ b/franka_gazebo/config/franka_hw_sim.yaml @@ -16,19 +16,19 @@ franka_gripper: motion_generators: position: gains: - panda_joint1: { p: 600, d: 30, i: 0 } - panda_joint2: { p: 600, d: 30, i: 0 } - panda_joint3: { p: 600, d: 30, i: 0 } - panda_joint4: { p: 600, d: 30, i: 0 } - panda_joint5: { p: 250, d: 10, i: 0 } - panda_joint6: { p: 150, d: 10, i: 0 } - panda_joint7: { p: 50, d: 5, i: 0 } + $(arg arm_id)_joint1: { p: 600, d: 30, i: 0 } + $(arg arm_id)_joint2: { p: 600, d: 30, i: 0 } + $(arg arm_id)_joint3: { p: 600, d: 30, i: 0 } + $(arg arm_id)_joint4: { p: 600, d: 30, i: 0 } + $(arg arm_id)_joint5: { p: 250, d: 10, i: 0 } + $(arg arm_id)_joint6: { p: 150, d: 10, i: 0 } + $(arg arm_id)_joint7: { p: 50, d: 5, i: 0 } velocity: gains: - panda_joint1: { p: 30, d: 0, i: 0 } - panda_joint2: { p: 30, d: 0, i: 0 } - panda_joint3: { p: 30, d: 0, i: 0 } - panda_joint4: { p: 30, d: 0, i: 0 } - panda_joint5: { p: 10, d: 0, i: 0 } - panda_joint6: { p: 10, d: 0, i: 0 } - panda_joint7: { p: 5, d: 0, i: 0 } + $(arg arm_id)_joint1: { p: 30, d: 0, i: 0 } + $(arg arm_id)_joint2: { p: 30, d: 0, i: 0 } + $(arg arm_id)_joint3: { p: 30, d: 0, i: 0 } + $(arg arm_id)_joint4: { p: 30, d: 0, i: 0 } + $(arg arm_id)_joint5: { p: 10, d: 0, i: 0 } + $(arg arm_id)_joint6: { p: 10, d: 0, i: 0 } + $(arg arm_id)_joint7: { p: 5, d: 0, i: 0 }