Package Summary

This package contains the parameter files that are used by the package amigo_gazebo to set up the controllers for the gazebo simulation. These parameter files are formatted as YAML-files and are located in the parameters directory of the package. This directory contains the following files which contain the controller parameters:

• arm_controllers.yaml: Parameter file for the left and right arm controller

  • type (pr2_controller manager type)
  • joints/mechanisms (corresponding joints and mechanisms)

  • gains (controller parameters: p,i,d,i_clamp of the control_toolbox)

  • limits (limits on position, velocity and acceleration)
  • init_positions (initial reference position of the controller)

• base_controller.yaml: Parameter file for the setup of the base controller

  • type (pr2_controller manager type)
  • joints/mechanisms (corresponding joints and mechanisms)

• base_pid.yaml: Parameter file that contains the controller parameters of the base controller

  • limits (limits on position, velocity and acceleration)

  • gains (controller parameters: p,i,d,i_clamp of the control_toolbox)

  • Intertia properties

• filter.yaml: Parameter file that contains the parameters for the lowpass-filter

• gripper_controllers.yaml: Parameter file that contains the parameters of the gripper controller

  • type (pr2_controller manager type)
  • joints/mechanisms (corresponding joints and mechanisms)

  • gains (controller parameters: p,i,d,i_clamp of the control_toolbox)

  • limits (limits on position, velocity and acceleration)
  • init_positions (initial reference position of the controller)

• head_controller.yaml: Parameter file that contains the parameters of the head controller

  • type (pr2_controller manager type)
  • joints/mechanisms (corresponding joints and mechanisms)

  • gains (controller parameters: p,i,d,i_clamp of the control_toolbox)

  • limits (limits on position, velocity and acceleration)
  • init_positions (initial reference position of the controller)

• odom_publisher.yaml: Parameter file that contains the parameters of the odometry publisher

  • type (pr2_controller manager type)
  • joints/mechanisms (corresponding joints and mechanisms)
  • publish_tf (boolean that describes if the tf needs to be published)

• spindle_controller.yaml: Parameter file that contains the parameters of the spindle controller

  • type (pr2_controller manager type)
  • joints/mechanisms (corresponding joints and mechanisms)

  • gains (controller parameters: p,i,d,i_clamp of the control_toolbox)

  • feedforward (controller parameters feedforward)
  • limits (limits on position, velocity and acceleration)
  • init_positions (initial reference position of the controller)