修正最小controllertorque

Author: a0919958057

ex_ocare_control/launch/ocare_hw_node.xml

@@ -1,26 +1,38 @@
 <launch>
- 
-  <!-- urdf xml robot description loaded on the Parameter Server-->
-  <param name="robot_description" command="$(find xacro)/xacro $(find labrob_description)/urdf/ocare_realworld.urdf.xacro" />
-  
-  <!-- Load joint controller configurations from YAML file to parameter server -->
-  <rosparam file="$(find ex_ocare_control)/config/controller_config.yaml" command="load"/>
 
-  <!-- main robot hardware interface handler node -->
-  <node name="ocare_hw_node" pkg="ex_ocare_control" type="ex_ocare_control_node"  required="false" output="screen" />
+	<!-- urdf xml robot description loaded on the Parameter Server-->
+	<param name="robot_description" command="$(find xacro)/xacro $(find labrob_description)/urdf/ocare_realworld.urdf.xacro" />
+
+	<!-- Load joint controller configurations from YAML file to parameter server -->
+	<rosparam file="$(find ex_ocare_control)/config/controller_config.yaml" command="load"/>
+
+	<!-- main robot hardware interface handler node -->
+	<node name="ocare_hw_node" pkg="ex_ocare_control" type="ex_ocare_control_node"  required="false" output="screen" />
+
+	<node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" required="true" output="screen" >
+		<param name="frame_id" type="str" value="laser"/>
+		<param name="port" type="string" value="/dev/hokuyo"/>
+		<param name="angle_min" type="double" value="-1.5707963"/>
+		<param name="angle_max" type="double" value="1.5607963"/>
+		<param name="intensity" type="bool" value="false"/>
+	</node>
+
+	<node name="mpu6050" pkg="mpu6050_serial_to_imu" type="mpu6050_serial_to_imu_node" output="screen" >
+		<param name="port" type="string" value="/dev/arduino"/>
+	</node>
 
 
-  <!-- load the controllers -->
-  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" ns="/ocare" 
-    args="pose_fuzzy_controller joint_state_controller"/>
+	<!-- load the controllers -->
+	<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+	output="screen" ns="/ocare" 
+	args="pose_fuzzy_controller joint_state_controller"/>
 
-  <!--node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /-->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
-	 <!-- urdf xml robot description loaded on the Parameter Server-->
-     <param name="robot_description" command="$(find xacro)/xacro $(find labrob_description)/urdf/ocare_realworld.urdf.xacro" />
-     <remap from="/joint_states" to="/ocare/joint_states" />
-  </node>
+	<!--node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
+		 <!-- urdf xml robot description loaded on the Parameter Server-->
+		 <param name="robot_description" command="$(find xacro)/xacro $(find labrob_description)/urdf/ocare_realworld.urdf.xacro" />
+		 <remap from="/joint_states" to="/ocare/joint_states" />
+	</node>
 
 
 

labrob_gazebo/CMakeLists.txt

@@ -5,7 +5,11 @@ project(labrob_gazebo)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
-
+  #gazebo_msgs
+  #gazebo_plugins
+  #gazebo_ros
+  #gazebo_ros_control
+  labrob_description
 )
 
 ## System dependencies are found with CMake's conventions

ocare_controller/include/fuzzycontroller.h

@@ -13,7 +13,7 @@
 
 #include<math.h>
 
-#define WHEEL_TORQUE_LIMIT 4.0
+#define WHEEL_TORQUE_LIMIT 200.0
 
 namespace ocare_controllers
 {