aic/aic_bringup/config/aic_ros2_controllers.yaml at main · sisahars/aic · GitHub

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controller_manager:
  ros__parameters:
    update_rate: 500  # Hz

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    fts_broadcaster:
      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster

    aic_controller:
      type: aic/Controller

    # enforce_command_limit: false

fts_broadcaster:
  ros__parameters:
    frame_id: ati/tool_link
    sensor_name: AtiForceTorqueSensor
    update_rate: 50

aic_controller:
  ros__parameters:
    # Currently, only "impedance" control mode is suppported.
    # Impedance requires effort command interfaces for specified joints,
    # and requires position and velocity state interfaces for specified joints.
    control_mode: "impedance"

    # Default target mode. Available values are "joint" or "cartesian".
    # Cartesian target mode accepts MotionUpdate targets, which are specified in tool/cartesian space.
    # Joint target mode accepts JointMotionUpdate targets, which are specified in joint space.
    target_mode: "cartesian"

    # Namespace of admittance controller for chaining controller interfaces
    admittance_controller_namespace: "admittance_controller"

    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint

    impedance:
      gravity_compensation: true
      stiffness_smoothing_constant: 0.1
      damping_smoothing_constant: 0.1
      activation_percentage: 0.0
      pose_error_integrator:
        gain: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
        bound: [10., 10., 10., 2., 2., 2.]
      maximum_wrench: [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
      nullspace:
        target_configuration: [0.6, -1.5708, -1.5708, -1.5708, 1.5708, 0.6]
        stiffness: [0., 0., 0., 0., 0., 0.]
        damping: [10., 10., 10., 10., 10., 10.]
      feedforward_interpolation:
        min_wrench: [-40., -40., -40., -5., -5., -5.]
        max_wrench: [40., 40., 40., 5., 5., 5.]
        max_wrench_dot: [500., 500., 500., 25., 25., 25.]
      default_values:
        control_stiffness: [75.0, 75.0, 75.0, 75.0, 75.0, 75.0]
        control_damping: [35.0, 35.0, 35.0, 35.0, 35.0, 35.0]
        offset_wrench: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

    joint_impedance:
      interpolator:
        min_value: [-40., -40., -40., -6., -6., -6.]
        max_value: [40., 40., 40., 6., 6., 6.]
        max_step_size: [1., 1., 1., 1., 1., 1.]
      default_values:
        control_stiffness: [100., 100., 100., 50., 50., 50.]
        control_damping: [40.0, 40.0, 40.0, 15.0, 15.0, 15.0]

    kinematics:
      plugin_name: kinematics_interface_kdl/KinematicsInterfaceKDL
      plugin_package: kinematics_interface
      base: base_link # Assumed to be stationary
      tip: gripper/tcp # Frame ID of tool center point
      alpha: 0.0005 # Specifies the damping coefficient for the Jacobian pseudo inverse.

    force_torque_sensor:
      name: AtiForceTorqueSensor

    clamp_to_limits:
      min_translational_position:
        - -5.0 # x
        - -5.0 # y
        - -5.0 # z
      max_translational_position:
        - 5.0 # x
        - 5.0 # y
        - 5.0 # z
      min_translational_velocity:
        - -0.25 # x
        - -0.25 # y
        - -0.25 # z
      max_translational_velocity:
        - 0.25 # x
        - 0.25 # y
        - 0.25 # z
      min_rotation_angle:
        - -3.14159 # x
        - -3.14159 # y
        - -3.14159 # z
      max_rotation_angle:
        - 3.14159 # x
        - 3.14159 # y
        - 3.14159 # z
      max_rotational_velocity: 2.0 # [rad/s]
      tracking_error:
        timeout: 2.0 # [s]
        min_angular_change: 0.01 #[rad]
        min_translation_change: 0.01 #[m]
        min_translation_error: 0.2 #[m] make sure it's larger than min_translation_change to avoid instability

    control_frequency: 500.0 # [Hz]

    # If enabled, the parameters will be dynamically updated while the controller is running.
    enable_parameter_update_without_reactivation: true