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Add mobile-base teleoperation to hangar simulation #870

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Add mobile-base teleoperation to hangar simulation #870

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1 change: 1 addition & 0 deletions src/hangar_sim/config/config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -109,5 +109,6 @@ ros2_control:
- "joint_trajectory_controller"
- "velocity_force_controller"
- "arm_only_velocity_force_controller"
- "mobile_base_velocity_force_controller"
- "joint_velocity_controller"
- "arm_only_joint_velocity_controller"
22 changes: 22 additions & 0 deletions src/hangar_sim/config/control/picknik_ur.ros2_control.yaml
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Expand Up @@ -21,6 +21,8 @@ controller_manager:
type: velocity_force_controller/VelocityForceController
arm_only_velocity_force_controller:
type: velocity_force_controller/VelocityForceController
mobile_base_velocity_force_controller:
type: velocity_force_controller/VelocityForceController
joint_velocity_controller:
type: joint_velocity_controller/JointVelocityController
arm_only_joint_velocity_controller:
Expand Down Expand Up @@ -379,6 +381,26 @@ velocity_force_controller:
# Padding (in radians) to add to joint position limits as a safety margin.
joint_limit_position_tolerance: 0.02

mobile_base_velocity_force_controller:
ros__parameters:
command_joints:
- platform_velocity_controller/linear_x_joint
- platform_velocity_controller/linear_y_joint
- platform_velocity_controller/rotational_yaw_joint
command_interfaces:
- velocity
planning_group_name: mobile_base
sensor_frame: ridgeback_base_link
ee_frame: ridgeback_base_link
state_publish_rate: 50
jacobian_damping: 0.0001
command_timeout: 0.1
max_joint_velocity: [0.175, 0.175, 0.5235987755982988]
max_joint_acceleration: [0.2, 0.2, 0.3490658503988659]
max_cartesian_velocity: [0.175, 0.175, 0.001, 0.001, 0.001, 0.5235987755982988]
max_cartesian_acceleration: [0.2, 0.2, 0.001, 0.001, 0.001, 0.3490658503988659]
joint_limit_position_tolerance: 0.02

arm_only_velocity_force_controller:
ros__parameters:
# The joint group to control.
Expand Down
3 changes: 3 additions & 0 deletions src/hangar_sim/config/moveit/picknik_ur.srdf
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Expand Up @@ -15,6 +15,9 @@
<joint name="linear_y_joint"/>
<joint name="rotational_yaw_joint"/>
</group>
<group name="mobile_base">
<chain base_link="world" tip_link="ridgeback_base_link"/>
</group>
<group name="arm_only">
<chain base_link="base_link" tip_link="grasp_link"/>
</group>
Expand Down
6 changes: 4 additions & 2 deletions src/hangar_sim/config/moveit/pose_jog.yaml
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@@ -1,4 +1,6 @@
# Planning groups to use in PoseJog, and their corresponding VFC controllers.
# The number of elements in `planning_groups` and `controllers` must match.
planning_groups: ['manipulator', 'arm_only']
controllers: ['velocity_force_controller', 'arm_only_velocity_force_controller']
planning_groups: ['manipulator', 'arm_only', 'mobile_base']
controllers: ['velocity_force_controller', 'arm_only_velocity_force_controller', 'mobile_base_velocity_force_controller']
dpad_layouts:
mobile_base: planar
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