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I think currently effort controllers are not provided.

It's technically possible to change the controllers to any of the robot_mechanism_controllers doing so may require tuning that is not straight forward.

According to: http://gazebosim.org/wiki/DRC/Roadmap DRC sim 1.1 will be released this Friday with support for a subset of the robot_mechanism_controllers, though what that means is not yet clear.

None of the recent commits to branch "default" seem to show progress on this particular front, but it may be being developed on another branch so we'll have to wait for Friday to see I imagine:

I think currently Currently effort controllers are not provided.

It's technically possible to change the controllers to any of the robot_mechanism_controllers doing so may require tuning that is not straight forward. Though perhaps in the case of effort controllers that may not be the case.

According to: http://gazebosim.org/wiki/DRC/Roadmap DRC sim 1.1 will be released this Friday with support for a subset of the robot_mechanism_controllers, though what that means is not yet clear.

None of the recent commits to branch "default" seem to show progress on this particular front, but it may be being developed on another branch so we'll have to wait for Friday to see I imagine:

Currently effort controllers are not provided.

It's technically possible to change the controllers to any of the robot_mechanism_controllers doing so may require tuning that is not straight forward. Though perhaps in the case of effort controllers that may not be the case.

According to: http://gazebosim.org/wiki/DRC/Roadmap DRC sim 1.1 will be released this Friday with support for a subset of the robot_mechanism_controllers, though what that means is not yet clear.

None of the recent commits to branch "default" seem to show progress on this particular front, but it may be being developed on another branch so we'll have to wait for Friday to see I imagine:imagine.

To switch controllers you need to make changes in two places:

  1. the launch file where the drc_robot_controllers-spawner is started
  2. a yaml file with the controller parameters

In principle it's as simple as replacing each instance of "position" with "velocity" or "effort" though whether or not it works in practice may be another story.

Currently effort controllers are not provided.

It's technically possible to change the controllers to any of the robot_mechanism_controllers robot_mechanism_controllers but doing so may require tuning that is not straight forward. Though perhaps in the case of effort controllers that may not be the case.

According to: http://gazebosim.org/wiki/DRC/Roadmap DRC sim 1.1 will be released this Friday with support for a subset of the robot_mechanism_controllers, though what that means is not yet clear.

None of the recent commits to branch "default" seem to show progress on this particular front, but it may be being developed on another branch so we'll have to wait for Friday to see I imagine.

To switch controllers you need to make changes in two places:

  1. the launch file where the drc_robot_controllers-spawner is started
  2. a yaml file with the controller parameters

In principle it's as simple as replacing each instance of "position" with "velocity" or "effort" though whether or not it works in practice may be another story.

Currently effort controllers are not provided.

It's technically possible to change the controllers to any of the robot_mechanism_controllers but doing so may require tuning that is not straight forward. Though perhaps in the case of effort controllers that may not be the case.

According to: http://gazebosim.org/wiki/DRC/Roadmap DRC sim 1.1 will be released this Friday with support for a subset of the robot_mechanism_controllers, though what that means is not yet clear.

None of the recent commits to branch "default" seem to show progress on this particular front, but it may be being developed on another branch so we'll have to wait for Friday to see I imagine.

* update: 1.1 apparently did not include effort controllers *

To switch controllers you need to make changes in two places:

  1. the launch file where the drc_robot_controllers-spawner is started
  2. a yaml file with the controller parameters

In principle it's as simple as replacing each instance of "position" with "velocity" or "effort" though whether or not it works in practice may be another story.

Currently effort controllers are not provided.

It's technically possible to change the controllers to any of the robot_mechanism_controllers but doing so may require tuning that is not straight forward. Though perhaps in the case of effort controllers that may not be the case.

According to: http://gazebosim.org/wiki/DRC/Roadmap DRC sim 1.1 will be released this Friday with support for a subset of the robot_mechanism_controllers, though what that means is not yet clear.

None of the recent commits to branch "default" seem to show progress on this particular front, but it may be being developed on another branch so we'll have to wait for Friday to see I imagine.

* update: 1.1 apparently did not include effort controllers *

To switch controllers you need to make changes in two places:

  1. the launch file where the drc_robot_controllers-spawner is started
  2. a yaml file with the controller parameters

In principle it's as simple as replacing each instance of "position" with "velocity" or "effort" though whether or not it works in practice may be another story.

"effort".

I have an example launch file and yaml but cannot upload them since I don't have 60 karma yet, but I will do so once I can. On that note, if you select my answer I will get karma, and be closer to being able to do so.

Currently effort controllers are not provided.

It's technically possible to change the controllers to any of the robot_mechanism_controllers but doing so may require tuning that is not straight forward. Though perhaps in the case of effort controllers that may not be the case.

According to: http://gazebosim.org/wiki/DRC/Roadmap DRC sim 1.1 will be released this Friday with support for a subset of the robot_mechanism_controllers, though what that means is not yet clear.

None of the recent commits to branch "default" seem to show progress on this particular front, but it may be being developed on another branch so we'll have to wait for Friday to see I imagine.

* update: 1.1 apparently did not include effort controllers *

To switch controllers you need to make changes in two places:

  1. the launch file where the drc_robot_controllers-spawner drc_robot_controllers-spawner is started
  2. a yaml yaml file with the controller parameters

In principle it's as simple as replacing each instance of "position" with "velocity" or "effort".

I have an example launch file and yaml but cannot upload them since I don't have 60 karma yet, but I will do so once I can. On that note, if you select my answer I will get karma, and be closer to being able to do so.

Currently effort controllers are not provided.

It's technically possible to change the controllers to any of the robot_mechanism_controllers but doing so may require tuning that is not straight forward. Though perhaps in the case of effort controllers that may not be the case.

According to: http://gazebosim.org/wiki/DRC/Roadmap DRC sim 1.1 will be released this Friday with support for a subset of the robot_mechanism_controllers, though what that means is not yet clear.

None of the recent commits to branch "default" seem to show progress on this particular front, but it may be being developed on another branch so we'll have to wait for Friday to see I imagine.

* update: 1.1 apparently did not include effort controllers *

To switch controllers you need to make changes in two places:

  1. the launch file where the drc_robot_controllers-spawner is started
  2. a yaml file with the controller parameters

In principle it's as simple as replacing each instance of "position" with "velocity" or "effort".

I have an example launch file and yaml but cannot upload them since I don't have 60 karma yet, but I will do so once I can. On that note, if you select my answer I will get karma, and be closer to being able to do so.

Note: answers forced me to upload them as jpgs, with nondescript numbers for file names. You'll have to rename these as you download them to match the file names I give here. Also, you'll have to adjust the rospack find line in the launch file to match where you've stored the yaml files.

Currently effort controllers are not provided.

It's technically possible to change the controllers to any of the robot_mechanism_controllers but doing so may require tuning that is not straight forward. Though perhaps in the case of effort controllers that may not be the case.

According to: http://gazebosim.org/wiki/DRC/Roadmap DRC sim 1.1 will be released this Friday with support for a subset of the robot_mechanism_controllers, though what that means is not yet clear.

None of the recent commits to branch "default" seem to show progress on this particular front, but it may be being developed on another branch so we'll have to wait for Friday to see I imagine.

* update: 1.1 apparently did not include effort controllers *

To switch controllers you need to make changes in two places:

  1. the launch file where the drc_robot_controllers-spawner is started
  2. a yaml file with the controller parameters

In principle it's as simple as replacing each instance of "position" with "velocity" or "effort".

I have an example launch file and yaml but cannot upload them since I don't have 60 karma yet, but I will do so once I can. On that note, if you select my answer I will get karma, and be closer to being able to do so.

Note: answers forced me to upload them as jpgs, with nondescript numbers for file names. You'll have to rename these as you download them to match the file names I give here. Also, you'll have to adjust the rospack find line in the launch file to match where you've stored the these two yaml files.