invert right wheels and change ordering of config (needed after retuning and UM=2)
steer_ctrl param handling
final cleanup
canopen config for raw3-3 base
cleanup files
finalize cob4-9
remove obsolete scan_unifier parameter
Setup cob4-9
finalizing configs
added head for cob4-7
update cob4-5 configs
added joint_states for the head
added head for cob4-5
larger data_skip for simulation
pass camera settings to gazebo plugins
parameterizable usb_cam
added 10 Hz heartbeat to Schunk DCF
adjust pc_monitor
fxm change requests
fixed path
copy the rviz config file
fix identantion
rename display launch file
added a launch file to display a urdf.xacro model
remove obsolete files raw3-5
remove obsolete rviz displays
remove obsolete laser config files
separate laser scanner from base
fix typo
restructure cob_hardware_config
configuration via yaml file
Stomp planner (#631)
* merged stomp configuration with actual indigo_dev
* controllers for moveit namespace corrected
* stomp configuration for raw3-1 created and tested
* few corrections before pull request
* twist controller config for raw3-1
* changes from pull request
* new change from pull request
* whole-body planning group: robot
* stomp configuration for robot group
* pull request changes
* stomp plannning yaml file correct group names
* twist controller config file updated to include input limits parameters
* finalizing PR
harmonize cob4-2 and cob4-7
unify tests
reduce station tolerance
cob4-7 hardware updates
renamed voltage_max to voltage_divider_factor
update cartesian controller parameters
disable head and sensorring for cob4-2
read current from Elmos, add it to base joint states
unified ros control base driver and controller config
update cob4-paul-stuttgart
remove cob4-10
speedup docking process
changed docker position
Revert "added stuck_detector to bringup"
This reverts commit 8c06a19ff64510837c9f127e3dc2d121c143972e.
disable head
changed Impedance-Controller Parameter for roboter
Raw3 5 config for ros_canopen (#609)
* Updated raw3-5 launch and description
* changes for test raw3-5
* config for raw 3-5 with ros_canopen
* uncommenting code and optimizing neutral positions
* delete .dae and .urdf for raw3-5
* Cleanded files
* changed diagnostics_analyzers to match with cob4 config
change u_max to meet the measured values
Update raw3-1.urdf.xacro
Update raw3-1.urdf.xacro
Update arm_controller.yaml
set light parameters
cleanup arm_controller
fix diagnostics
requested changes in pull request
gripper macro name changed and prefix removed as argument
make simulation work preliminarily
added vacuum gripper
adaptations to current configuration for order-picking
undid old files from ipa-rmb
update for raw3-1 torso driver configuration
added arm in bringup, corrected torso mounting angle
twist controller configuration for raw3-1
added arm joint limits file
Added controller for gazebo. Arm gripper removed
Arm uncommented to be added in the URDF file
do not specify num_cores for localhost
added stuck_detector to bringup
fixed camera down camera calibration for all robots
disabled head and sensorring
fixed camera down camera calibration
updated phidgets config for raw3-3
move gazebo_ros_control plugin
use xacro --inorder
remove cob4-2 leftover
remove cob4-1
fix cpu monitor
upgrade cob4-2
remove obsolete components and dependencies
remove unsupported robots - launch and config
Merge pull request #596 from ipa-fmw/feature/bms_diagnostics
enable bms in diagnostics
enable bms in diagnostics
activate 3dof head
adapt diagnostics
use latest xacro syntax
limit for pc monitors
new bms config
[WIP] Use grouped low level components for simulation (#583)
* refactored generic canopen&config into canopen_generic.launch
* refactored base driver+config into canopen_base.launch
* added components/cob4_head_camera.launch
* added components/cam3d_openni2.launch
* added components/cam3d_r200_rgbd.launch
* introduce sim arg for components
* use sim arg in robot.xml
* remove nodes started within robot.xml from default_controllers_robot.launch
* introducing legacy components
* reorganize and sim toggle for more components
* adjust cob4-1 to latest changes
* use new structure for cob3-2
* use new structure for cob3-6
* use new structure for cob3-9
* use new structure for cob4-2
* use new structure for remaining cob4s
* travis fixes
* syntax styling
* use new structure for raws
* more travis fixes
* harmonize old vs. new behavior cob4-1
* guarantee same hw behavior as before
* add flip argument
use test_depends where applicable
use cob_supported_robots_ROBOTLIST in dependent packages
use additional sensorring argument
updated BMS config with StatusRegister bits
Merge pull request #565 from ipa-fxm/separate_sensors_actors
Separate sensors actors
remove moveit_config files from cob_hardware_config
upload semantic description using new moveit_config structure
cob4-10 fixes
manually fix changelog
use unified torso xacro
move sensors from torso xacro to robot xacro
use unified sensorring xacro
move sensors from sensorring xacro to robot xacro
use unified head xacro
move sensors from head xacro to robot xacro
fix self-collision for twist control with cob3-6
disable warning for wireless em stop bridged
update velocity smoother parameters
use same velocity smoother settings for all cob4
smooth acceleration after emergency stop
cleanup
setup cob4-10
cob4-7 setup: final test
fake monitoring for simulation to work with msh scenario
fix cob3-9 urdf
added vacuum gripper
adaptations to current configuration for order-picking
increase load threshold
added phidgets
undid old files from ipa-rmb
added arm in bringup, corrected torso mounting angle
increase load threshold
twist controller configuration for raw3-1
added arm joint limits file
Added controller for gazebo. Arm gripper removed
fix image_flip to be compatible with head_cam kinematic
simulation test
Arm uncommented to be added in the URDF file
Twist cartesian controller configuration files for cob3-6
Twist controller configuration files for cob3-6
realsense as default torso down camera
build torso with arms
Merge github.com:ipa320/cob_robots into indigo_dev
Conflicts:
cob_default_robot_behavior/CMakeLists.txt
missing image_flip confog for cob4-5
added head_cam frame to urdf
Set enable_sounf to false
setup cob4-7
update for raw3-1 torso driver configuration
Contributors: Andreea Tulbure, Benjamin Maidel, Bruno Brito, Felipe Garcia Lopez, Felix Messmer, Florian Weisshardt, Jannik Abbenseth, Mathias Lüdtke, Nadia Hammoudeh García, Richard Bormann, andreeatulbure, cob4-10, cob4-11, cob4-7, hannes, ipa-cob4-1, ipa-cob4-5, ipa-cob4-7, ipa-cob4-8, ipa-fmw, ipa-fxm, ipa-nhg, ipa-raw3-3, ipa-rmb, msh, robot
0.6.6 (2016-10-10)
adapt to multi topic hz monitor
reduce network load by using camera info instead of image for hz monitors
enable sound fading for cob4-1
added sound config for fading
fix framerate setting for head cam
adapt phidget config to raw3-6
aggregate arm joint states
additional param files and modifications for raw3-6 ur10
added ur10 to raw3-6 urdf
fix cob homeing velocity sign
added configs for bringup
introduced param to set homing velocity
review cob4-5 simulation
increase error rate for hz monitor
increase velocity thresholds for safety fields
fix framerate for head cam
add diagnostics hz monitor to cob4-1 and cob4-2 for cameras
remove now unused reflector referencing config (is now in stations.yaml
unify docking configuration, now only one station config file per robot
fix powerstate full voltage
add image flip config for sensorring front and back
add image flip for tordo down camera for cob4-5
fix softlink
use imageflip with torso_cam3d_down camera
use docking on cob4-2
corrected empty voltage for cob
enable roslaunch check for cob_hardware_config
changed params
use powerstate from phidget node
move docking config and launch to cob_hardware_config and cob_bringup
made diagnostics consistent with command gui
review configuration files
use current values in joint states
do not turn back wheel after homing
include/configure stuck detector
read currents from Elmos
base calibration
ignore BMS entry for diagnostic_aggregator
calibration torso_3dcam_left
update rviz configuration
add grippers to teleop
remove torso from cob4-5
remove phidget from cob4-5
use common dcf
no homing for sensorring
fix light setting for cob4-5
fix color code for cyan
add arms and grippers to joint state aggregator
disable sound for battery monitor
comment bms in diagnostics
rename hand to gripper
add grippers to urdf
add grippers to urdf
Merge github.com:ipa-fmw/cob_robots into indigo_dev
Conflicts:
cob_hardware_config/cob4-2/config/battery_monitor.yaml
adapted num_leds for battery_monitor
enable light in battery monitor
make base move smoother
added arms, hands and cameras
disable head and sensorring for cob4-2
disable head and sensorring
move base smoother
fix diagnostics analyser
added realsense camera to cob4-1 description
create softlink instead of copy
added usb head cam launch file and added it to cob4 bringup
moved phidget config to cob4-2 and created softlink in cob4-1 config
added current to phidget config
added phidget config for cob4-1
changed params for new led ring
disabled battery monitor sound/light and emmonitor sound
Set enable sound false
never allow collissions for base/torso and torso/head
load srdf in upload_robot.launch
add SRDF to cob_hardware_config (initially empty)
add safe mode for teleop
tuned vel smoother params
robot test
add 3dof head to cob4-2
test Head 3dof
Migrated local_costmap_params.yaml to new layout
Removed obstacle_threshold as for now it's not really relevant
Removed topic parameter
Reverted test settings to previous values
added head controller files
Remove inflation_layer from costmap for collision_velocity_filter
removed arms and hands calibration
setup cob4-5
Changed raw3-3 config for new collision_velocity_filter
velocity_smoother params adjustments (tested on raw3-3)
added additional parameter to velocity_smoother (decel_factor_safe) and dissabled teleops ramp
restructure laser topics
added collision_velocity_filter to twist_mux
adjusted velocity_smoother params on raw3-3
moved twist_mux config to common folder and added softlinks for robot specific config
use correct dcf file
changed teleop configs base command topic to new twist_mux topic
added velocity_smoother launch file and velocity_smoother configs for all robots
added twist_mux launch file and twist_mux configs for all robots
use correct pc names
do not use velocity controllers for Elmo devices
use cob4-1 as cob4-2 without arms - copying configuration files
update cartesian controller configs
cartesian parameter updates for video shooting
remove obsolete mu
use STACK_OF_TASK as default
disable acceleration limiter as default
update limiter parameters
scan unifier config files missed
add scan_unifier for cob4-3
Update teleop.yaml
Update cob4-3.urdf.xacro
Updated test file, robot name wrong
added cob4-3
removed torso from robot_modules config
added scan unifier to bringup layer
added led offset param to torso light config
changed rplidar orientation
cleaned config files
cleaned up diagnostics analyzer config for raw3-3
corrected phidgets config for raw3-3
Merge pull request #349 from ipa-nhg/sensorring
[cob4-2] Sensorring with asus camera
remove lookat
remove obsolete parameter
added sensorring diagnostics
Adapt cob4-6 configuration
test sensorring cam3d on cob4-2
added kinect to sensorring
same base diagnostics analyzer params for all robs because base_drive_chain driver was fixed
cob4-4 and cob4-6 use ipa-mdl's base controller. This sends correct diagnostics
Merge branch 'indigo_dev' of github.com:ipa320/cob_robots into fix/base_configuration
Conflicts:
cob_hardware_config/cob4-4/config/diagnostics_analyzers.yaml
Merge branch 'indigo_dev' of github.com:ipa-bnm/cob_robots into fix/base_configuration
removed comment
wrong parameter vel_from_device
addapt cob4-4 configuration
arm calibration
arm calibration and adapted the default positions
adapted diagnostic analyzers base path to new namespaces
adapted diagnostics analyzer to new base namespaces
add footprint parameters for all cob4s and unify config
changed base namespace from 'base_controller' to 'base' for cob4 and raw3
sync cob4-1 and cob4-2
use folded position as default
use action server light
using light service
added new behavior trigger services
renaming: hardware_interface to controller_interface