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Fix for pepper falling over in gazebo 7 with kinetic #15

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Fix for pepper falling over in gazebo 7 with kinetic #15

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bc9e4af
Updates to pepper_description to fix Odometry issue. Introduction of …
dcam0050 May 19, 2018
097e6e6
moved xacro to pepper_robot repo. Modified default pepper launch world
dcam0050 May 19, 2018
6c36c9e
base configuration
dcam0050 May 19, 2018
760e0de
Pepper falls naturally under gravity
dcam0050 May 19, 2018
81c3332
Changed PID parameters for stable upright posture but have not tested…
dcam0050 May 19, 2018
f494456
Better tuning of pid values for pepper and tested functioning control…
dcam0050 May 19, 2018
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357 changes: 357 additions & 0 deletions pepper_gazebo_plugin/config/pepper_gazebo_controller.yaml
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# Note: You MUST load these PID parameters for all joints that are using the
# PositionJointInterface, otherwise the arm + gripper will act like a giant
# parachute, counteracting gravity, and causing some of the wheels to lose
# contact with the ground, so the robot won't be able to properly navigate. See
# https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612
gazebo_ros_control:
pid_gains:
HeadYaw:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
HeadPitch:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
WheelFL:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
WheelFR:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
WheelB:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
HandR:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
HandL:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LWristYaw:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RWristYaw:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
base_link_fixedjoint:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
base_footprint_joint:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
HipRoll:
p: 1000
i: 0.1
d: 5.0
i_clamp: 0.2
antiwindup: false
publish_state: true
HipPitch:
p: 1000
i: 0.1
d: 5.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger11:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger12:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger13:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger11:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger12:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger13:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger21:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger22:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger23:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger21:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger22:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger23:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger31:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger32:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger33:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger31:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger32:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger33:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger41:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger42:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LFinger43:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger41:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger42:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RFinger43:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LThumb1:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RThumb1:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LThumb2:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RThumb2:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LElbowRoll:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RElbowRoll:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LElbowYaw:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RElbowYaw:
p: 100
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LShoulderRoll:
p: 500
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RShoulderRoll:
p: 500
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
LShoulderPitch:
p: 500
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
RShoulderPitch:
p: 500
i: 0.1
d: 1.0
i_clamp: 0.2
antiwindup: false
publish_state: true
KneePitch:
p: 1000
i: 0.1
d: 5.0
i_clamp: 0.2
antiwindup: false
publish_state: true
27 changes: 27 additions & 0 deletions pepper_gazebo_plugin/launch/pepper_gazebo.launch
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<?xml version="1.0"?>
<launch>
<arg name="launch_control_trajectory_all" default="true"/>
<!-- Load the URDF Model -->
<include file="$(find pepper_description)/launch/pepper_upload.launch" />

<rosparam file="$(find pepper_gazebo_plugin)/config/pepper_gazebo_controller.yaml" command="load" />

<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find pepper_gazebo_plugin)/worlds/empty.world"/>
<arg name="paused" value="true"/>
</include>


<!-- Call Pepper Robot Trajectory Controller -->

<include file="$(find pepper_control)/launch/pepper_control_trajectory.launch" unless="$(arg launch_control_trajectory_all)"/>
<include file="$(find pepper_control)/launch/pepper_control_trajectory_all.launch" if="$(arg launch_control_trajectory_all)"/>

<!-- <include file="$(find pepper_control)/launch/pepper_control_position.launch"/> -->

<!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
args="-param robot_description -urdf -x -0.5 -y 1 -z 0.83 -model pepper_MP" />

</launch>
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