Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Humble v2.0.0 Release #176

Merged
merged 5 commits into from
Jun 11, 2024
Merged

Humble v2.0.0 Release #176

merged 5 commits into from
Jun 11, 2024

Conversation

mhubii
Copy link
Member

@mhubii mhubii commented May 15, 2024

Extension of #174

This PR targets 2.0.0. This will likely be the last major humble release and should pave the way for ROS index binaries. Following PRs will aim at rolling.

  • Targeted release 14/04/2024
  • Much improved integrability
  • Much improved testing
  • Better demos

Contributors

Related PRs

Issues Tracker

Desired Changes

FvnPq61X0AEbjNd

https://x.com/jdorfman/status/1655582823082782721?s=20

@mhubii
Copy link
Member Author

mhubii commented May 15, 2024

for future reference, it would be good if the remote could be configured from the client

# these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface
remote:
  control_mode: "position"
  control_rate: 100
  client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]

client:
  fri:
    port_id: 30200 # port id for the UDP communication. Useful in multi-robot setups
    remote_host: INADDR_ANY # the expected robot IP address. INADDR_ANY will accept any incoming connection

  lbr_fri_ros2:
    rt_prio: 80 # real-time priority for the control loop
    pid_p: 10.0 # P gain for the joint position  (useful for asynchronous control)
    pid_i: 0.0 # I gain for the joint position command
    pid_d: 0.0 # D gain for the joint position command
    pid_i_max: 0.0 # max integral value for the joint position command
    pid_i_min: 0.0 # min integral value for the joint position command
    pid_antiwindup: false # enable antiwindup for the joint position command
    command_guard_variant: default # if requested position / velocities beyond limits, CommandGuard will be triggered and shut the connection. Available: [default, safe_stop]
    external_torque_cutoff_frequency: 10 # low-pass filter for the external joint torque measurements [Hz] 
    measured_torque_cutoff_frequency: 10 # low-pass filter for the joint torque measurements [Hz]
    open_loop: true # KUKA works the best in open_loop control mode

  lbr_ros2_control:
    estimated_ft_sensor: # estimates the external force-torque from the external joint torque values
      chain_root: link_0
      chain_tip: link_ee
      damping: 0.2 # damping factor for the pseudo-inverse of the Jacobian
      force_x_th: 2.0 # x-force threshold. Only if the force exceeds this value, the force will be considered
      force_y_th: 2.0 # y-force threshold. Only if the force exceeds this value, the force will be considered
      force_z_th: 2.0 # z-force threshold. Only if the force exceeds this value, the force will be considered
      torque_x_th: 0.5 # x-torque threshold. Only if the torque exceeds this value, the torque will be considered
      torque_y_th: 0.5 # y-torque threshold. Only if the torque exceeds this value, the torque will be considered
      torque_z_th: 0.5 # z-torque threshold. Only if the torque exceeds this value, the torque will be considered

@mhubii mhubii merged commit cc03bb0 into humble Jun 11, 2024
8 checks passed
@mhubii mhubii mentioned this pull request Jun 11, 2024
36 tasks
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

1 participant