Merge pull request in SWDEV/franka_ros from SRR-1195/effort-trajector…

…y-controller to develop

* commit '10b05e2cd217981a2b795e68574fa71eb3be2d23':
  ADD: Changelog entry
  ADD: Effort Joint Trajectory Controller

CHANGELOG.md

@@ -9,6 +9,7 @@
 * Make position + orientation targets threadsafe in cartesian example controller
 * Add singularity warning to `franka_gazebo` if Jacobian becomes singular
 * **BREAKING** Make `/panda` namespace of `franka_gazebo` optional
+* Add effort joint trajectory controller to be used by MoveIT
 
 ## 0.8.1 - 2021-09-08
 

franka_control/config/default_controllers.yaml

@@ -10,20 +10,41 @@ position_joint_trajectory_controller:
     - panda_joint7
   constraints:
     goal_time: 0.5
-    panda_joint1:
-      goal: 0.05
-    panda_joint2:
-      goal: 0.05
-    panda_joint3:
-      goal: 0.05
-    panda_joint4:
-      goal: 0.05
-    panda_joint5:
-      goal: 0.05
-    panda_joint6:
-      goal: 0.05
-    panda_joint7:
-      goal: 0.05
+    panda_joint1: { goal: 0.05}
+    panda_joint2: { goal: 0.05}
+    panda_joint3: { goal: 0.05}
+    panda_joint4: { goal: 0.05}
+    panda_joint5: { goal: 0.05}
+    panda_joint6: { goal: 0.05}
+    panda_joint7: { goal: 0.05}
+
+effort_joint_trajectory_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - panda_joint1
+    - panda_joint2
+    - panda_joint3
+    - panda_joint4
+    - panda_joint5
+    - panda_joint6
+    - panda_joint7
+  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 }
+  constraints:
+    goal_time: 0.5
+    panda_joint1: { goal: 0.05}
+    panda_joint2: { goal: 0.05}
+    panda_joint3: { goal: 0.05}
+    panda_joint4: { goal: 0.05}
+    panda_joint5: { goal: 0.05}
+    panda_joint6: { goal: 0.05}
+    panda_joint7: { goal: 0.05}
 
 franka_state_controller:
   type: franka_control/FrankaStateController

franka_gazebo/config/sim_controllers.yaml

@@ -38,3 +38,31 @@ cartesian_impedance_example_controller:
     - $(arg arm_id)_joint5
     - $(arg arm_id)_joint6
     - $(arg arm_id)_joint7
+
+effort_joint_trajectory_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - $(arg arm_id)_joint1
+    - $(arg arm_id)_joint2
+    - $(arg arm_id)_joint3
+    - $(arg arm_id)_joint4
+    - $(arg arm_id)_joint5
+    - $(arg arm_id)_joint6
+    - $(arg arm_id)_joint7
+  gains:
+    $(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 }
+  constraints:
+    goal_time: 0.5
+    $(arg arm_id)_joint1: { goal: 0.05 }
+    $(arg arm_id)_joint2: { goal: 0.05 }
+    $(arg arm_id)_joint3: { goal: 0.05 }
+    $(arg arm_id)_joint4: { goal: 0.05 }
+    $(arg arm_id)_joint5: { goal: 0.05 }
+    $(arg arm_id)_joint6: { goal: 0.05 }
+    $(arg arm_id)_joint7: { goal: 0.05 }