Merge pull request #4 from ROBOTIS-GIT/develop

Develop

Author: HPaper

open_manipulator_gazebo/config/gazebo_controller.yaml

@@ -0,0 +1,88 @@
+gazebo_ros_control:
+  pid_gains:
+    joint1:
+      p: 100000.0
+      i: 1000.0
+      d: 100.0
+      i_clamp: 0.2
+      antiwindup: false
+      publish_state: true
+    joint2:
+      p: 100000.0
+      i: 1000.0
+      d: 500.0
+      i_clamp: 0.2
+      antiwindup: false
+      publish_state: true
+    joint3:
+      p: 100000.0
+      i: 1000.0
+      d: 500.0
+      i_clamp: 0.2
+      antiwindup: false
+      publish_state: true
+    joint4:
+      p: 100000.0
+      i: 1000.0
+      d: 500.0
+      i_clamp: 0.2
+      antiwindup: false
+      publish_state: true
+    gripper:
+      p: 100000.0
+      i: 1000.0
+      d: 500.0
+      i_clamp: 0.2
+      antiwindup: false
+      publish_state: true
+    gripper_sub:
+      p: 100000.0
+      i: 250.0
+      d: 1000.0
+      i_clamp: 0.2
+      antiwindup: false
+      publish_state: true
+#   pid_gains:
+#     joint1:
+#       p: 3000.0
+#       i: 100.0
+#       d: 700.0
+#       i_clamp: 0.2
+#       antiwindup: false
+#       publish_state: true
+#     joint2:
+#       p: 3000.0
+#       i: 100.0
+#       d: 700.0
+#       i_clamp: 0.2
+#       antiwindup: false
+#       publish_state: true
+#     joint3:
+#       p: 3000.0
+#       i: 100.0
+#       d: 700.0
+#       i_clamp: 0.2
+#       antiwindup: false
+#       publish_state: true
+#     joint4:
+#       p: 3000.0
+#       i: 100.0
+#       d: 700.0
+#       i_clamp: 0.2
+#       antiwindup: false
+#       publish_state: true
+#     gripper:
+#       p: 100000.0
+#       i: 1000.0
+#       d: 500.0
+#       i_clamp: 0.2
+#       antiwindup: false
+#       publish_state: true
+#     gripper_sub:
+#       p: 100000.0
+#       i: 250.0
+#       d: 1000.0
+#       i_clamp: 0.2
+#       antiwindup: false
+#       publish_state: true
+

open_manipulator_gazebo/launch/open_manipulator_gazebo.launch

@@ -6,6 +6,8 @@
   <arg name="headless" default="false"/>
   <arg name="debug" default="false"/>
 
+  <rosparam file="$(find open_manipulator_gazebo)/config/gazebo_controller.yaml" command="load" />
+
   <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find open_manipulator_gazebo)/worlds/empty.world"/>