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Commit 68488cef authored by Jan Koniarik's avatar Jan Koniarik
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regenerated launch/scad files

parent fbdce145
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schpin_tote/launch/control_layer.launch 0 → 100644
View file @ 68488cef
<launch>
<include file="$(find schpin_tote)/launch/robot_description.launch"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<rosparam>rate: 50
source_list:
- /control/leg/rl/joint_states
- /control/leg/fr/joint_states
- /control/leg/fl/joint_states
- /control/leg/rr/joint_states
- /control/gimbal/joint_states
</rosparam>
</node>
<node name="control" output="screen" pkg="schpin_control" respawn="true" type="pwm_joints">
<rosparam ns="leg/rl/femur">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 5
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="leg/rl/coxa">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 6
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="leg/rl/tibia">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 4
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="leg/fr/femur">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 8
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="leg/fr/coxa">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 9
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="leg/fr/tibia">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 7
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="leg/fl/femur">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 11
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="leg/fl/coxa">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 12
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="leg/fl/tibia">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 10
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="leg/rr/femur">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 14
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="leg/rr/coxa">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 15
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="leg/rr/tibia">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 13
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="gimbal/yaw">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 2
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam ns="gimbal/pitch">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
channel: 3
default_pos: 0
pulse_center: 0.0015
pulse_max: 0.0021
pulse_min: 0.0009
reverse: false
update_freq: 50
velocity: 10.471975511965978
</rosparam>
<rosparam>joints:
- leg/rl/femur
- leg/rl/coxa
- leg/rl/tibia
- leg/fr/femur
- leg/fr/coxa
- leg/fr/tibia
- leg/fl/femur
- leg/fl/coxa
- leg/fl/tibia
- leg/rr/femur
- leg/rr/coxa
- leg/rr/tibia
- gimbal/yaw
- gimbal/pitch
</rosparam>
<rosparam>gimbal/pitch_joint_position_controller:
joint: gimbal/pitch
type: position_controllers/JointPositionController
gimbal/yaw_joint_position_controller:
joint: gimbal/yaw
type: position_controllers/JointPositionController
joint_state_controller:
publish_rate: 50
type: joint_state_controller/JointStateController
leg/fl/coxa_joint_position_controller:
joint: leg/fl/coxa
type: position_controllers/JointPositionController
leg/fl/femur_joint_position_controller:
joint: leg/fl/femur
type: position_controllers/JointPositionController
leg/fl/tibia_joint_position_controller:
joint: leg/fl/tibia
type: position_controllers/JointPositionController
leg/fr/coxa_joint_position_controller:
joint: leg/fr/coxa
type: position_controllers/JointPositionController
leg/fr/femur_joint_position_controller:
joint: leg/fr/femur
type: position_controllers/JointPositionController
leg/fr/tibia_joint_position_controller:
joint: leg/fr/tibia
type: position_controllers/JointPositionController
leg/rl/coxa_joint_position_controller:
joint: leg/rl/coxa
type: position_controllers/JointPositionController
leg/rl/femur_joint_position_controller:
joint: leg/rl/femur
type: position_controllers/JointPositionController
leg/rl/tibia_joint_position_controller:
joint: leg/rl/tibia
type: position_controllers/JointPositionController
leg/rr/coxa_joint_position_controller:
joint: leg/rr/coxa
type: position_controllers/JointPositionController
leg/rr/femur_joint_position_controller:
joint: leg/rr/femur
type: position_controllers/JointPositionController
leg/rr/tibia_joint_position_controller:
joint: leg/rr/tibia
type: position_controllers/JointPositionController
</rosparam>
</node>
<node args="leg/rr/coxa_joint_position_controller gimbal/yaw_joint_position_controller leg/fr/tibia_joint_position_controller leg/rl/tibia_joint_position_controller leg/fl/coxa_joint_position_controller leg/rr/femur_joint_position_controller leg/fl/femur_joint_position_controller leg/fr/femur_joint_position_controller leg/fr/coxa_joint_position_controller joint_state_controller leg/fl/tibia_joint_position_controller leg/rl/coxa_joint_position_controller leg/rl/femur_joint_position_controller gimbal/pitch_joint_position_controller leg/rr/tibia_joint_position_controller" name="controller_spawner" ns="control" output="screen" pkg="controller_manager" respawn="false" type="spawner"/>
</launch>
schpin_tote/launch/fl_leg_graph_generator.launch
View file @ 68488cef
<launch>
<node name="fl_leg_graph_generator" pkg="schpin_stg" type="leg_graph_generator"/>
<rosparam>chain_root: coxa
mirror: [1, 0, 0]
pos: [0.055, 0.025, 0]
rot: [0, 0, -0.5235987755982988]
pos:
- 0.055
- 0.025
- 0
rot:
- 0
- 0
- -0.5235987755982988
segments:
coxa:
joint:
angle: &amp;id001 {max: 1.3089969389957472, min: -1.3089969389957472}
axis: [0, 0, 1]
axle: &amp;id002 {diameter: 0.0048200000000000005, height: 0.0039, screw_diameter: 0.002}
frame: &amp;id003 {length: 0.0322, thickness: 0.0024500000000000004, v_offset: 0.016}
gimbal_vector: &amp;id004 [-0.00585, 0.0125, -0.01705]
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: &amp;id005
center_offset: {x: 0.00625, y: 0.002325}
diameter: 0.002
slot: 1
angle:
max: 1.3089969389957472
min: -1.3089969389957472
axis:
- 0
- 0
- 1
graph:
steps: 16
max_torque: 0.15680000000000002
max_velocity: 10.471975511965978
running_current: 0.22
servo: &amp;id006 {height: 0.0229, length: 0.0229, width: 0.0125}
stall_current: 0.65
turret: &amp;id007
diameter: 0.011699999999999999
height: 0.0052
margin: {x: 0.0004000000000000002, y: 0.0112}
mass: 0.03
mass_center: [0, 0.01, -0.005]
mass_center:
- 0
- 0.01
- -0.005
next_segment: femur
pos: [0, 0, 0]
rot: [0, 0, 0]
scad:
args: []
module: coxa
pos:
- 0
- 0
- 0
rot:
- 0
- 0
- 0
femur:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
angle:
max: 1.3089969389957472
min: -1.3089969389957472
axis:
- 1
- 0
- 0
graph:
steps: 16
max_torque: 0.15680000000000002
max_velocity: 10.471975511965978
running_current: 0.22
servo: *id006
stall_current: 0.65
turret: *id007
mass: 0.01
mass_center: [0, 0.025, 0]
mass_center:
- 0
- 0.025
- 0
next_segment: tibia
pos: [0, 0.0125, -0.022375]
rot: [0.0, 0, 0]
scad:
args: [0.045]
module: femur
pos:
- 0
- 0.0125
- -0.022375
rot:
- 0.0
- 0
- 0
tibia:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
angle:
max: 1.3089969389957472
min: -1.3089969389957472
axis:
- 1
- 0
- 0
graph:
steps: 16
max_torque: 0.15680000000000002
max_velocity: 10.471975511965978
running_current: 0.22
servo: *id006
stall_current: 0.65
turret: *id007
mass: 0.015
mass_center: [0, 0.025, 0]
mass_center:
- 0
- 0.025
- 0
next_segment: tip
pos: [0, 0.045, 0]
rot: [-1.5707963267948966, 0, 0]
scad:
args: []
module: tibia
pos:
- 0
- 0.045
- 0
rot:
- -1.5707963267948966
- 0
- 0
tip:
mass: 0
mass_center: [0, 0, 0]
pos: [-0.005, 0.05, 0]
rot: [0, 0, 0]
mass_center:
- 0
- 0
- 0
pos:
- -0.005
- 0.05
- 0
rot:
- 0
- 0
- 0
</rosparam>
</launch>
schpin_tote/launch/fl_leg_grpah_generator.launch deleted 100644 → 0
View file @ fbdce145
<launch>
<node name="fl_leg_graph_generator" pkg="schpin_stg" type="leg_graph_generator"/>
<rosparam>chain_root: coxa
channel_offset: 0
mirror: [1, 0, 0]
pos: [0.055, 0.025, 0]
rot: [0, 0, -0.5235987755982988]
segments:
coxa:
joint:
angle: &amp;id001 {max: 1.3089969389957472, min: -1.3089969389957472}
axis: [0, 0, 1]
axle: &amp;id002 {diameter: 0.0048200000000000005, height: 0.0039, screw_diameter: 0.002}
channel: 0
default_pos: 0
frame: &amp;id003 {length: 0.0322, thickness: 0.0024500000000000004, v_offset: 0.016}
gimbal_vector: &amp;id004 [-0.00585, 0.0125, -0.01705]
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: &amp;id005
center_offset: {x: 0.00625, y: 0.002325}
diameter: 0.002
slot: 1
pulse: &amp;id006 {max: 2100, min: 900}
reverse: false
running_current: 0.22
servo: &amp;id007 {height: 0.0229, length: 0.0229, width: 0.0125}
stall_current: 0.65
turret: &amp;id008
diameter: 0.011699999999999999
height: 0.0052
margin: {x: 0.0004000000000000002, y: 0.0112}
mass: 0.03
mass_center: [0, 0.01, -0.005]
next_segment: femur
pos: [0, 0, 0]
rot: [0, 0, 0]
scad:
args: []
module: coxa
femur:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
channel: 1
default_pos: 0
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
pulse: *id006
reverse: false
running_current: 0.22
servo: *id007
stall_current: 0.65
turret: *id008
mass: 0.01
mass_center: [0, 0.025, 0]
next_segment: tibia
pos: [0, 0.0125, -0.022375]
rot: [0.0, 0, 0]
scad:
args: [0.045]
module: femur
tibia:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
channel: 2
default_pos: 0
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
pulse: *id006
reverse: false
running_current: 0.22
servo: *id007
stall_current: 0.65
turret: *id008
mass: 0.015
mass_center: [0, 0.025, 0]
next_segment: tip
pos: [0, 0.045, 0]
rot: [-1.5707963267948966, 0, 0]
scad:
args: []
module: tibia
tip:
mass: 0
mass_center: [0, 0, 0]
pos: [-0.005, 0.05, 0]
rot: [0, 0, 0]
</rosparam>
</launch>
schpin_tote/launch/fr_leg_graph_generator.launch
View file @ 68488cef
<launch>
<node name="fr_leg_graph_generator" pkg="schpin_stg" type="leg_graph_generator"/>
<rosparam>chain_root: coxa
mirror: [0, 0, 0]
pos: [0.055, -0.025, 0]
rot: [0, 0, -2.6179938779914944]
pos:
- 0.055
- -0.025
- 0
rot:
- 0
- 0
- -2.6179938779914944
segments:
coxa:
joint:
angle: &amp;id001 {max: 1.3089969389957472, min: -1.3089969389957472}
axis: [0, 0, 1]
axle: &amp;id002 {diameter: 0.0048200000000000005, height: 0.0039, screw_diameter: 0.002}
frame: &amp;id003 {length: 0.0322, thickness: 0.0024500000000000004, v_offset: 0.016}
gimbal_vector: &amp;id004 [-0.00585, 0.0125, -0.01705]
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: &amp;id005
center_offset: {x: 0.00625, y: 0.002325}
diameter: 0.002
slot: 1
angle:
max: 1.3089969389957472
min: -1.3089969389957472
axis:
- 0
- 0
- 1
graph:
steps: 16
max_torque: 0.15680000000000002
max_velocity: 10.471975511965978
running_current: 0.22
servo: &amp;id006 {height: 0.0229, length: 0.0229, width: 0.0125}
stall_current: 0.65
turret: &amp;id007
diameter: 0.011699999999999999
height: 0.0052
margin: {x: 0.0004000000000000002, y: 0.0112}
mass: 0.03
mass_center: [0, 0.01, -0.005]
mass_center:
- 0
- 0.01
- -0.005
next_segment: femur
pos: [0, 0, 0]
rot: [0, 0, 0]
scad:
args: []
module: coxa
pos:
- 0
- 0
- 0
rot:
- 0
- 0
- 0
femur:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
angle:
max: 1.3089969389957472
min: -1.3089969389957472
axis:
- 1
- 0
- 0
graph:
steps: 16
max_torque: 0.15680000000000002
max_velocity: 10.471975511965978
running_current: 0.22
servo: *id006
stall_current: 0.65
turret: *id007
mass: 0.01