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increase max effort in joints so joints in gazebo doesn't oscillate #3

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increase max effort in joints so joints in gazebo doesn't oscillate #3

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6 changes: 0 additions & 6 deletions config/mobile_servicing_system_control.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -196,9 +196,3 @@
constraints:
stopped_velocity_tolerance: 0.1
goal_time: 0.0

/gz_ros_control:
ros__parameters:
# P-gain across all joints in gazebo's position interface
# https://control.ros.org/humble/doc/gz_ros2_control/doc/index.html#notes-on-the-command-interface
position_proportional_gain: 0.05
46 changes: 23 additions & 23 deletions urdf/canadarm2.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@
</geometry>
</collision>
</link>

<!-- ******* Link 3 ******* -->
<link name="canadarm2_link_3">
<inertial>
Expand Down Expand Up @@ -150,7 +150,7 @@
</geometry>
</collision>
</link>

<!-- ******* Link 6 ******* -->
<link name="canadarm2_link_6">
<inertial>
Expand Down Expand Up @@ -195,17 +195,17 @@
<mesh filename="package://iss_description/meshes/canadarm2/link_7.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
</link>

<joint name="joint_pdgf" type="fixed">
<origin rpy="0 0 0" xyz="-1.4347 -0.19847 1.5901"/>
<parent link="${parent}"/>
<child link="pdgf"/>
</joint>


<joint name="joint_canadarm2_base" type="fixed">
<origin rpy="-0.35691983 0.0 -0.572468" xyz="0 0 0"/>
<origin rpy="-0.35691983 0.0 -0.572468" xyz="0 0 0"/>
<parent link="pdgf"/>
<child link="canadarm2_base"/>
</joint>
Expand All @@ -216,7 +216,7 @@
<parent link="canadarm2_base"/>
<child link="canadarm2_link_1"/>
<axis xyz="0 1 0"/>
<limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
<limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
</joint>

<!-- joint 2 -->
Expand All @@ -225,7 +225,7 @@
<parent link="canadarm2_link_1"/>
<child link="canadarm2_link_2"/>
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
<limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
</joint>

<!-- joint 3 -->
Expand All @@ -234,45 +234,45 @@
<parent link="canadarm2_link_2"/>
<child link="canadarm2_link_3"/>
<axis xyz="0 1 0"/>
<limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
<limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
</joint>

<!-- joint 4 -->
<joint name="joint_canadarm2_4" type="revolute">
<origin rpy="0 0 0" xyz="-7.3435 -0.57517 0.004392"/>
<parent link="canadarm2_link_3"/>
<child link="canadarm2_link_4"/>
<axis xyz="0 1 0"/>
<limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
</joint>
<limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
</joint>

<!-- joint 5 -->
<joint name="joint_canadarm2_5" type="revolute">
<origin rpy="0 0 0" xyz="0.004395 -0.57517 7.3435"/>
<parent link="canadarm2_link_4"/>
<child link="canadarm2_link_5"/>
<axis xyz="0 1 0"/>
<limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
</joint>
<limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
</joint>

<!-- joint 6 -->
<joint name="joint_canadarm2_6" type="revolute">
<origin rpy="0 0 0" xyz="-0.28758 -0.3134 0.002192"/>
<parent link="canadarm2_link_5"/>
<child link="canadarm2_link_6"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
</joint>
<limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
</joint>

<!-- joint 7 -->
<joint name="joint_canadarm2_7" type="revolute">
<origin rpy="0 0 0" xyz="-0.31341 -0.002199 0.28759"/>
<parent link="canadarm2_link_6"/>
<child link="canadarm2_link_7"/>
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
</joint>
</xacro:macro>
<limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
</joint>

</xacro:macro>

</robot>
22 changes: 11 additions & 11 deletions urdf/mobile_base_system.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<!-- MOBILE BASE SYSTEM -->
<xacro:macro name="mobile_base_system" params=" parent:='world' ">


<link name="root">
<inertial>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
Expand Down Expand Up @@ -55,17 +55,17 @@
<link name="link_09_destiny"/>
<link name="link_14_s0_truss"/>

<!-- ************************* -->
<!-- Joints for common modules -->
<!-- ************************* -->

<!-- ************************* -->
<!-- Joints for common modules -->
<!-- ************************* -->

<joint name="joint_world" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${parent}"/>
<child link="root"/>
</joint>

<!-- Joint for 02 Unity Node 1-->
<joint name="joint_02_unity" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
Expand All @@ -91,15 +91,15 @@

<!-- *********************************************** -->
<!-- Joint for Mobile base system w.r.t. to S0 Truss -->
<!-- *********************************************** -->
<!-- *********************************************** -->
<joint name="joint_mbs" type="prismatic">
<origin rpy="0 0 0" xyz="-2.8655 -5.17 -0.59547"/>
<axis xyz="1 0 0"/>
<parent link="link_14_s0_truss"/>
<child link="mobile_base_system"/>
<limit effort="1000.0" lower="-15.0" upper="42.0" velocity="0.5"/>
<limit effort="10000.0" lower="-15.0" upper="42.0" velocity="2.0"/>
</joint>
</xacro:macro>

</xacro:macro>

</robot>
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