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[Gazebo] Add (but commented) the pid parameters for the position controller #443

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[Gazebo] Add (but commented) the pid parameters for the position controller #443

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2 changes: 1 addition & 1 deletion ur_description/urdf/common.gazebo.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,8 @@

<gazebo>
<plugin name="ros_control" filename="libgazebo_ros_control.so">
<!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
<legacyModeNS>true</legacyModeNS>
</plugin>

<!--
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11 changes: 11 additions & 0 deletions ur_gazebo/controller/arm_controller_ur10.yaml
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Expand Up @@ -29,3 +29,14 @@ joint_group_position_controller:
- wrist_2_joint
- wrist_3_joint

#Although Gazebo 7 requires the defition of the pid parameters for a the position controller, this is not working.
#Please uncomment the following lines for Gazebo or gazebo_ros_control upgrades

#gazebo_ros_control:
# pid_gains:
# shoulder_pan_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
# shoulder_lift_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
# elbow_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
# wrist_1_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
# wrist_2_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
# wrist_3_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
12 changes: 12 additions & 0 deletions ur_gazebo/controller/arm_controller_ur3.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,3 +29,15 @@ joint_group_position_controller:
- wrist_2_joint
- wrist_3_joint


#Although Gazebo 7 requires the defition of the pid parameters for a the position controller, this is not working.
#Please uncomment the following lines for Gazebo or gazebo_ros_control upgrades

#gazebo_ros_control:
# pid_gains:
# shoulder_pan_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
# shoulder_lift_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
# elbow_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
# wrist_1_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
# wrist_2_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
# wrist_3_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1}
11 changes: 11 additions & 0 deletions ur_gazebo/controller/arm_controller_ur5.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,3 +29,14 @@ joint_group_position_controller:
- wrist_2_joint
- wrist_3_joint

#Although Gazebo 7 requires the defition of the pid parameters for a the position controller, this is not working.
#Please uncomment the following lines for Gazebo or gazebo_ros_control upgrades

#gazebo_ros_control:
# pid_gains:
# shoulder_pan_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}
# shoulder_lift_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}
# elbow_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}
# wrist_1_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}
# wrist_2_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}
# wrist_3_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1}