WUT Velma robot API
velma_core_cs.launch
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1 <?xml version="1.0"?>
2 <launch>
3 <!-- <arg name="LOG_LEVEL" default="Error"/>-->
4  <arg name="ORO_LOGLEVEL" default="3"/>
5  <arg name="debug" default="false"/>
6  <arg name="cset" default="false"/>
7  <arg name="load_robot_description" default="false"/>
8  <arg name="valgrind" default="false"/>
9 
10  <arg unless="$(arg cset)" name="CSET_LAUNCH_PREFIX" value=""/>
11  <arg if="$(arg cset)" name="CSET_LAUNCH_PREFIX" value="cset proc -s user -e --"/>
12 
13  <arg unless="$(arg debug)" name="LAUNCH_PREFIX" value=""/>
14  <arg if="$(arg debug)" name="LAUNCH_PREFIX" value="gdb -ex run --args "/>
15 
16  <arg unless="$(arg valgrind)" name="LAUNCH_PREFIX_2" value=""/>
17  <arg if="$(arg valgrind)" name="LAUNCH_PREFIX_2" value="valgrind --leak-check=yes "/>
18 
19  <node
20  name="velma_core_cs"
21  pkg="subsystem_deployer"
22  type="deployer"
23  launch-prefix="$(arg CSET_LAUNCH_PREFIX) $(arg LAUNCH_PREFIX_2) $(arg LAUNCH_PREFIX)"
24  args="--DeployerName velma_core_cs -x $(find velma_core_cs)/config/velma_core_cs_transition.xml -m velma_core_cs -p 30 -c 1 --"
25  output="screen">
26  <env name="ORO_LOGLEVEL" value="$(arg ORO_LOGLEVEL)"/>
27  <!-- <env name="LD_PRELOAD" value="librtt_malloc_hook.so" /> -->
28  </node>
29 
30  <group if="$(arg load_robot_description)">
31  <!-- upload robot description -->
32  <include file="$(find velma_description)/launch/upload_robot.launch" >
33  <arg name="load_velma_sim_gazebo" value="false"/>
34  <arg name="use_dh_compatible_model" value="false"/>
35  <arg name="use_left_optoforces" value="false"/>
36  <arg name="use_right_optoforces" value="false"/>
37  <arg name="mobile_base" value="false"/>
38  <arg name="use_gpu_ray" value="false"/>
39  <arg name="collision_detector" value="dart"/>
40  <arg name="use_kinect" value="true"/>
41  <arg name="use_stereo_pair" value="true"/>
42  </include>
43  <node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub" >
44  <param name="use_tf_static" value="true"/>
45  </node>
46  </group>
47 
48  <!-- <param name="/use_sim_time" value="false" /> -->
49 
50  <rosparam command="load" ns="velma_core_cs/wcc_l" file="$(find velma_common)/config/wcc_l.yaml" />
51  <rosparam command="load" ns="velma_core_cs/wcc_r" file="$(find velma_common)/config/wcc_r.yaml" />
52  <rosparam command="load" ns="velma_core_cs/ColDetWrL" file="$(find velma_common)/config/wcc_l.yaml" />
53  <rosparam command="load" ns="velma_core_cs/ColDetWrR" file="$(find velma_common)/config/wcc_r.yaml" />
54  <rosparam command="load" ns="velma_core_cs" file="$(find velma_common)/config/joint_limits_cimp.yaml" />
55 
56  <group ns="velma_core_cs">
57  <rosparam>
58  RightForceTransformation:
59  is_right_turn_frame: true
60  tool_weight: 12.391
61  gravity_arm_in_wrist:
62  x: 0.0
63  y: 0.0
64  z: 0.08
65  sensor_frame:
66  orientation:
67  w: 1.0
68  x: 0.0
69  y: 0.0
70  z: 0.0
71  position:
72  x: 0.0
73  y: 0.0
74  z: 0.0
75  LeftForceTransformation:
76  is_right_turn_frame: true
77  tool_weight: 12.391
78  gravity_arm_in_wrist:
79  x: 0.0
80  y: 0.0
81  z: 0.08
82  sensor_frame:
83  orientation:
84  w: 1.0
85  x: 0.0
86  y: 0.0
87  z: 0.0
88  position:
89  x: 0.0
90  y: 0.0
91  z: 0.0
92  HeadIK:
93  v_rot: 0.800
94  v_lean: 0.375
95  v_head: 0.392
96  h_cam: 0.0
97  v_cam: 0.225
98  VL_hp:
99  max_vel: 1.04
100  timestep: 0.002
101  VL_ht:
102  max_vel: 1.04
103  timestep: 0.002
104  JntImp:
105  initial_stiffness: [1200.01, 200.01, 200.01, 200.01, 200.01, 200.01, 200.01, 200.01, 200.01, 200.01, 200.01, 200.01, 200.01, 200.01, 200.01]
106  damping: 0.5
107  JntImpSafe:
108  initial_stiffness: [5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0]
109  damping: 1.9
110  INT_tool_r:
111  activate_pose_init: true
112  init_setpoint:
113  orientation:
114  w: 1.0
115  x: 0.0
116  y: 0.0
117  z: 0.0
118  position:
119  x: 0.0
120  y: 0.0
121  z: 0.0
122  check_tolerances: false
123  INT_tool_l:
124  activate_pose_init: true
125  init_setpoint:
126  orientation:
127  w: 1.0
128  x: 0.0
129  y: 0.0
130  z: 0.0
131  position:
132  x: 0.0
133  y: 0.0
134  z: 0.0
135  check_tolerances: false
136  ColDet:
137  activation_dist: 0.04
138  joint_names: [torso_0_joint, right_arm_0_joint, right_arm_1_joint, right_arm_2_joint, right_arm_3_joint, right_arm_4_joint, right_arm_5_joint, right_arm_6_joint, left_arm_0_joint, left_arm_1_joint, left_arm_2_joint, left_arm_3_joint, left_arm_4_joint, left_arm_5_joint, left_arm_6_joint, head_pan_joint, head_tilt_joint, right_HandFingerOneKnuckleOneJoint, right_HandFingerOneKnuckleTwoJoint, right_HandFingerOneKnuckleThreeJoint, right_HandFingerTwoKnuckleOneJoint, right_HandFingerTwoKnuckleTwoJoint, right_HandFingerTwoKnuckleThreeJoint, right_HandFingerThreeKnuckleTwoJoint, right_HandFingerThreeKnuckleThreeJoint, left_HandFingerOneKnuckleOneJoint, left_HandFingerOneKnuckleTwoJoint, left_HandFingerOneKnuckleThreeJoint, left_HandFingerTwoKnuckleOneJoint, left_HandFingerTwoKnuckleTwoJoint, left_HandFingerTwoKnuckleThreeJoint, left_HandFingerThreeKnuckleTwoJoint, left_HandFingerThreeKnuckleThreeJoint ]
139  articulated_joint_names: [torso_0_joint, right_arm_0_joint, right_arm_1_joint, right_arm_2_joint, right_arm_3_joint, right_arm_4_joint, right_arm_5_joint, right_arm_6_joint, left_arm_0_joint, left_arm_1_joint, left_arm_2_joint, left_arm_3_joint, left_arm_4_joint, left_arm_5_joint, left_arm_6_joint ]
140  ColDetRep:
141  activation_dist: 0.15
142  joint_names: [torso_0_joint, right_arm_0_joint, right_arm_1_joint, right_arm_2_joint, right_arm_3_joint, right_arm_4_joint, right_arm_5_joint, right_arm_6_joint, left_arm_0_joint, left_arm_1_joint, left_arm_2_joint, left_arm_3_joint, left_arm_4_joint, left_arm_5_joint, left_arm_6_joint, head_pan_joint, head_tilt_joint, right_HandFingerOneKnuckleOneJoint, right_HandFingerOneKnuckleTwoJoint, right_HandFingerOneKnuckleThreeJoint, right_HandFingerTwoKnuckleOneJoint, right_HandFingerTwoKnuckleTwoJoint, right_HandFingerTwoKnuckleThreeJoint, right_HandFingerThreeKnuckleTwoJoint, right_HandFingerThreeKnuckleThreeJoint, left_HandFingerOneKnuckleOneJoint, left_HandFingerOneKnuckleTwoJoint, left_HandFingerOneKnuckleThreeJoint, left_HandFingerTwoKnuckleOneJoint, left_HandFingerTwoKnuckleTwoJoint, left_HandFingerTwoKnuckleThreeJoint, left_HandFingerThreeKnuckleTwoJoint, left_HandFingerThreeKnuckleThreeJoint ]
143  articulated_joint_names: [torso_0_joint, right_arm_0_joint, right_arm_1_joint, right_arm_2_joint, right_arm_3_joint, right_arm_4_joint, right_arm_5_joint, right_arm_6_joint, left_arm_0_joint, left_arm_1_joint, left_arm_2_joint, left_arm_3_joint, left_arm_4_joint, left_arm_5_joint, left_arm_6_joint ]
144  calculate_forces: true
145  Fmax: 2
146  damping_factors: [15, 10, 10, 5, 5, 2, 1, 1, 10, 10, 5, 5, 2, 1, 1]
147  ColDetRepJntImp:
148  activation_dist: 0.15
149  joint_names: [torso_0_joint, right_arm_0_joint, right_arm_1_joint, right_arm_2_joint, right_arm_3_joint, right_arm_4_joint, right_arm_5_joint, right_arm_6_joint, left_arm_0_joint, left_arm_1_joint, left_arm_2_joint, left_arm_3_joint, left_arm_4_joint, left_arm_5_joint, left_arm_6_joint, head_pan_joint, head_tilt_joint, right_HandFingerOneKnuckleOneJoint, right_HandFingerOneKnuckleTwoJoint, right_HandFingerOneKnuckleThreeJoint, right_HandFingerTwoKnuckleOneJoint, right_HandFingerTwoKnuckleTwoJoint, right_HandFingerTwoKnuckleThreeJoint, right_HandFingerThreeKnuckleTwoJoint, right_HandFingerThreeKnuckleThreeJoint, left_HandFingerOneKnuckleOneJoint, left_HandFingerOneKnuckleTwoJoint, left_HandFingerOneKnuckleThreeJoint, left_HandFingerTwoKnuckleOneJoint, left_HandFingerTwoKnuckleTwoJoint, left_HandFingerTwoKnuckleThreeJoint, left_HandFingerThreeKnuckleTwoJoint, left_HandFingerThreeKnuckleThreeJoint ]
150  articulated_joint_names: [torso_0_joint, right_arm_0_joint, right_arm_1_joint, right_arm_2_joint, right_arm_3_joint, right_arm_4_joint, right_arm_5_joint, right_arm_6_joint, left_arm_0_joint, left_arm_1_joint, left_arm_2_joint, left_arm_3_joint, left_arm_4_joint, left_arm_5_joint, left_arm_6_joint ]
151  calculate_forces: true
152  Fmax: 2
153  damping_factors: [15, 10, 10, 5, 5, 2, 1, 1, 10, 10, 5, 5, 2, 1, 1]
154  MassStatCtrl:
155  articulated_joint_names: [torso_0_joint, right_arm_0_joint, right_arm_1_joint, right_arm_2_joint, right_arm_3_joint, right_arm_4_joint, right_arm_5_joint, right_arm_6_joint, left_arm_0_joint, left_arm_1_joint, left_arm_2_joint, left_arm_3_joint, left_arm_4_joint, left_arm_5_joint, left_arm_6_joint ]
156  rightLWR_joint0_idx: 1
157  leftLWR_joint0_idx: 8
158  CImp:
159  enable_rt_logging: false
160  service_name: robot
161  <!-- mass_of_the_object: 2.0 -->
162 <!-- MassDynCtrl:
163  mass_of_the_object: 2.0 -->
164  FK:
165  service_name: robot
166  </rosparam>
167  </group>
168 </launch>
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