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Overview

This package contains the parameters for the different types of controllers and the launch files for the controllers as well.

By default , you'll load the different controllers from this package, using the provided launch files and configurations. You'll also save your parameters to those yaml files.

See sr_edc_mechanism_controllers for more details on the actual implementation of the controllers.

Controllers Parameters

The Parameters are saved in the different .yaml file:

• motor_board_effort_controllers.yaml: PIDs for the force controller running on the motor board. They are loaded by the calibration controllers.

• motor_board_effort_controllers_stopped.yaml: PIDs for the force controller running on the motor board, all parameters are set to 0, so the motors are stopped (useful for testing).

• sr_edc_calibration_controllers.yaml: just contains the joint names and the calibration controller used for Shadow Robot's hand. Our calibration controller are not doing any calibration.

• sr_edc_effort_controllers.yaml: the parameters for the effort controllers running on the hostside. Those controllers are dummy controllers as the real force control is done on the motor side.

• sr_edc_joint_position_controllers.yaml: the parameters for the joint positions controllers.

• sr_edc_joint_velocity_controllers.yaml: the parameters for the velocity controllers.

• sr_edc_mixed_position_velocity_joint_controllers.yaml: the parameters for the mixed position and velocity controllers.

Launch files

The package also contains one launch file per controller type. You can change which controller is started by default by editing sr_edc_default_controllers.launch. Just make sure you only have one type of controllers started (otherwise one of them is going to be ignored by the controller manager).

The controller manager is started by the sr_edc_controller_manager.launch file (which is called from sr_edc_launch/sr_edc.launch file).