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talos_controller_configuration package from talos_robot repotalos_bringup talos_controller_configuration talos_description talos_description_calibration talos_description_inertial talos_robot |
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Package Summary
| Tags | No category tags. |
| Version | 2.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pal-robotics/talos_robot.git |
| VCS Type | git |
| VCS Version | humble-devel |
| Last Updated | 2024-09-26 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The talos_controller_configuration package
Additional Links
No additional links.
Maintainers
- Adria Roig
- Ilenia Perrella
Authors
No additional authors.
Initialization of joint configurations
======================================
This package provides some low-level utilities for initialization of joint
configurations. `utils` subdirectory contains several preformed messages
`<subtree>.msg` which can be directly sent to the controller of the
corresponding subtree. These messages can be edited manually as needed for
specific cases. The messages can be sent in three ways:
1. Using `rostopic` from the command line.
2. Using Makefile in `utils` subfolder: type `make <subtree>` to send commands
to a subtree, or `make arms`, `make legs`, `make all`.
3. Using `send_joint_commands.launch` launch script, which requires `subtree`
argument to be set to a certain <subtree>, or any of 'arms', 'legs', 'all'.
CHANGELOG
Changelog for package talos_controller_configuration
2.0.1 (2024-09-26)
- Merge branch 'migration_bugfix' into 'humble-devel' Migration Bugfixing See merge request robots/talos_robot!134
- fix typo
- Contributors: Sai Kishor Kothakota, sergiacosta
2.0.0 (2024-09-18)
- Merge branch 'ros2-migration' into 'humble-devel' Ros2 migration See merge request robots/talos_robot!130
- removed the default controllers from the bringup launch
- remove the unused args
- Change from the robot_utils to CommonArgs in launch_pal
- Add both leg position controllers into the position_controllers launch
- Update rest of the controller type parameters into the config files
- update the configurations of the broadcasters
- remove unnecessary non-existing controller launch and config
- move the controller type to the config files for the position controllers
- Comment out the non migrated dependencies
- Cleanup some import and start the default controller from the start.
- make sure the rate parameter is taken into account.
- Update the plotjuggler view to include the joint state
- Reduce the update_rate of the broadcasters
- Update the plot_juggler session on sensors debugging
- add the imu to ro2_control
- [talos_controller_configuration] add all F/T broadcasters and the estimator parameters and launcher.
- [talos_descirption] Try to add the force sensors at the feet
- set default position controllers arg full_v2 model
- remove default_controllers (position for now) from bringup controllers
- remove leg position controllers frfom position_controllers.launch.py
- fix jtc yaml files
- update gripper mimic joint and sensors
- clean launch files
- remove python script
- initialisation script added
- conf files for sensors
- bringup controllers
- working version with default position controllers
- fix force_torque_sensor controller name
- migrate all the basic launch files
- update all the config file for controller_configuration
- Merge branch 'feat/ros2controlcli_dependency' into 'humble-devel' Add ros2controlcli dependency See merge request robots/talos_robot!129
- Add ros2controlcli dependency
- migration of CMakeLists.txt and package.xml to ros2 - controller_config.
- Contributors: Jordan Palacios, Maximilien Naveau, Noel Jimenez, Sai Kishor Kothakota, ileniaperrella
1.1.30 (2023-11-08)
- Merge branch 'smooth_position_control' into 'erbium-devel' Add parameters for direct_position_control See merge request robots/talos_robot!125
- Update limiter_max_rate parameters in direct position control
- Add parameters for direct_position_control
- Contributors: Adria Roig, Adrià Roig, Sai Kishor Kothakota
1.1.29 (2023-10-24)
- Merge branch 'reset_ft_offset' into 'erbium-devel' Reset ankle FT offset also before starting default controller See merge request robots/talos_robot!124
- Merge branch 'change_license_to_apache' into 'erbium-devel' change public license to Apache License 2.0 See merge request robots/talos_robot!126
- change public license to Apache License 2.0
- Reset ankle FT offset also before starting default controller
- Contributors: Jordan Palacios, Pierre Fernbach, Sai Kishor Kothakota
1.1.28 (2023-02-07)
1.1.27 (2023-01-18)
1.1.26 (2022-10-13)
- Merge branch 'ft_zero_calibration' into 'erbium-devel' Ft zero calibration See merge request robots/talos_robot!117
- Ft zero calibration
- Contributors: Jordan Palacios, maximiliennaveau
1.1.25 (2022-09-19)
1.1.24 (2022-04-20)
1.1.23 (2022-03-02)
- Remove actuator parameters for flexibility joints from this package
- Update stiffness value of hip flexibility to 4000 Nm
- Add actuator params yaml files for the flexibility
- Contributors: Pierre Fernbach
1.1.22 (2022-02-22)
- Fix wrong actuator parameters
- Merge branch 'wrist_zero' into 'erbium-devel' Add procedure to make to zero of the wrist FT sensors See merge request robots/talos_robot!113
- Add option to talos_initialisation script to make the zero set of the wrist FT
- Contributors: Adria Roig, Jordan Palacios, Pierre Fernbach
1.1.21 (2021-12-01)
1.1.20 (2021-11-17)
- Merge branch 'impedance_param_files' into 'erbium-devel' Impedance param files See merge request robots/talos_robot!109
- added default parameters and specifics params file
- added empty impedance parameter files
- Contributors: Adria Roig, Sai Kishor Kothakota
1.1.19 (2021-08-26)
- Merge branch 'kangaroo_wbc' into 'erbium-devel' Add ballscrew parameters in actuators params See merge request robots/talos_robot!108
- Add ballscrew parameters in actuators params
- Contributors: Adria Roig, victor
1.1.18 (2021-05-26)
- Merge branch 'reset_ft_twice' into 'erbium-devel' reset FTs twice before and after launching the default controllers See merge request robots/talos_robot!107
- reset FTs twice before and after launching the default controllers
- Contributors: Sai Kishor Kothakota, saikishor
1.1.17 (2021-03-05)
1.1.16 (2020-11-13)
1.1.15 (2020-08-01)
- Merge branch 'talos6_final' into 'erbium-devel' Talos6 final See merge request robots/talos_robot!103
- Update the new max_distance_impulse for elbow joints
- update the max distance impulse after testing on TALOS-6 with full_v2
- Contributors: Sai Kishor Kothakota, saikishor
1.1.14 (2020-07-30)
1.1.13 (2020-07-30)
- Merge branch 'covers' into 'erbium-devel' Increase safety after testing with covers See merge request robots/talos_robot!102
- Increase safety after testing with covers
- Contributors: Adria Roig, victor
1.1.12 (2020-07-21)
- Merge branch 'initialisation_improvement' into 'erbium-devel' Initialisation improvement See merge request robots/talos_robot!99
- fix the raw input message in talos initialization script
- Added tts client to state the status of initialization
- Contributors: Sai Kishor Kothakota, saikishor
1.1.11 (2020-07-21)
- Merge branch 'default_torques' into 'erbium-devel' Default torques See merge request robots/talos_robot!98
- added the torque offsets that need to be overriden
- Contributors: Adria Roig, Sai Kishor Kothakota
1.1.10 (2020-07-15)
- Merge branch 'max_impulse_tests' into 'erbium-devel' Increase max_impulse_dist for some joints See merge request robots/talos_robot!96
- Increase max_impulse_dist for some joints
- Contributors: Adria Roig, victor
1.1.9 (2020-07-14)
1.1.8 (2020-07-13)
- Set temporal result so we can launch default controllers
- Contributors: Jordan Palacios
1.1.7 (2020-07-02)
- Merge branch '2KHz' into 'erbium-devel' 2 k hz See merge request robots/talos_robot!94
- Tune default safety_parameters
- Set walking controller at 2KHz
- added a way to disable safety for only a set of joints
- Update default_safety_parameters.yaml
- Reduce max impulse
- Contributors: Adria Roig, Adrià Roig, Sai Kishor Kothakota, victor
1.1.6 (2020-06-29)
- Merge branch 'init_script' into 'erbium-devel' Initialisation script See merge request robots/talos_robot!93
- Redirect applications output to a log file
- Use wait() for shell commands
- Don't stop default controllers after starting them
- Launch introspection controller too
- Shell command stdin, stdout and stderr are None by default
- Renamed result parameter
- Fixed ati reset retcode usage
- Using ros logging instead
- Initialisation script
- Contributors: Jordan Palacios, jordanpalacios
1.1.5 (2020-05-08)
1.1.4 (2020-05-06)
1.1.3 (2020-03-05)
1.1.2 (2020-01-14)
- Merge branch 'more_refactor' into 'erbium-devel' remove default safety info from specifics params See merge request robots/talos_robot!84
- remove default safety info from specifics params
- Contributors: Sai Kishor Kothakota
1.1.1 (2020-01-14)
- Merge branch 'specifics_refactor' into 'erbium-devel' added changes to choose the specifics yamls See merge request robots/talos_robot!82
- Revert "added joints to control script" This reverts commit a73220e081a42dcb94a5742feab0fba07c9944cc.
- added joints to control script
- renamed walking offsets yaml to walking_specific_params.yaml
- added optenv based specific_file_path argument
- added actuator_safety_specific_params file
- added specific configuration of inertia shaping control
- added changes to choose the specifics yamls
- Contributors: Jordan Palacios, Sai Kishor Kothakota
1.1.0 (2020-01-10)
1.0.52 (2019-11-29)
1.0.51 (2019-07-15)
- Merge branch 'stance_actuators_test' into 'erbium-devel' changed definitiion of safety override See merge request robots/talos_robot!75
- changed definitiion of safety override
- Contributors: Hilario Tome
1.0.50 (2019-07-10)
- Merge branch 'stance_actuators_test' into 'erbium-devel' Stance actuators test See merge request robots/talos_robot!74
- standing test launches
- Contributors: Hilario Tome
1.0.49 (2019-05-30)
- added head
- Merge branch 'head_hal_differential' into 'erbium-devel' added head config files See merge request robots/talos_robot!72
- added head config files
- Contributors: Hilario Tome
1.0.48 (2019-03-27)
- Merge branch 'reenabled_safety' into 'erbium-devel' reenabled safety See merge request robots/talos_robot!71
- reenabled safety
- Contributors: Hilario Tome
1.0.47 (2019-03-19)
- Merge branch 'actuator_simulation' into 'erbium-devel' working simulator with actuators and torque control on the lower body of talos See merge request robots/talos_robot!70
- added missing gripper actuator parameters
- added missing actuator parameters:
- working simulator with actuators and torque control on the lower body of talos
- Contributors: Hilario Tome
1.0.46 (2019-03-07)
- Merge branch 'walk_pose' into 'erbium-devel' Update walk pose params format See merge request robots/talos_robot!69
- Update walk pose params format
- Change license to LGPL-3.0
- Contributors: Adrià Roig, Hilario Tome, Victor Lopez
1.0.45 (2018-12-20)
- Merge branch 'move-dependencies' into 'erbium-devel' Move dependencies to other packages for public packages See merge request robots/talos_robot!68
- Move dependencies to other packages for public packages
- Contributors: Victor Lopez
1.0.44 (2018-11-29)
- Merge branch 'as_safety' into 'erbium-devel' Add default_safety_parameters.yaml See merge request robots/talos_robot!65
- Drop joint specific safety parameters
- Update default_safety_parameters.yaml
- Add default_safety_parameters.yaml
- Contributors: alexandersherikov
1.0.43 (2018-11-22)
- Load params for v1 too
- Contributors: Jordan Palacios
1.0.42 (2018-11-21)
- Merge branch 'as_partial_tree' into 'erbium-devel' Update URDFModelParameters (configuration_initializer.yaml) See merge request robots/talos_robot!66
- Update URDFModelParameters (configuration_initializer.yaml)
- Contributors: alexandersherikov
1.0.41 (2018-11-20)
- Merge branch 'as_param_fix' into 'erbium-devel' Update PlanningModelParameters in configuration_initializer.yaml See merge request robots/talos_robot!67
- Update PlanningModelParameters in configuration_initializer.yaml
- Contributors: alexandersherikov
1.0.40 (2018-11-02)
1.0.39 (2018-10-25)
- Merge branch 'as_drop_deprecated_cfg' into 'erbium-devel' Drop deprecated CollisionModelParameters See merge request robots/talos_robot!63
- Drop deprecated CollisionModelParameters
- Contributors: alexandersherikov
1.0.38 (2018-10-24)
1.0.37 (2018-10-23)
- Merge branch 'as_self_coll_merge_test' into 'erbium-devel' As self coll merge test See merge request robots/talos_robot!61
- Temporary revert changes in configuration_initializer.yaml This should allow to merge changes without breaking tests.
- Merge branch 'as_self_coll_merge_test' into as_sim_self_collisions
- Update collision model parameters.
- Update collision model parameters.
- Contributors: alexandersherikov
1.0.36 (2018-10-18)
- Merge branch 'type_current_limit' into 'erbium-devel' fixed type current limit controllers See merge request robots/talos_robot!58
- fixed type current limit controllers
- Contributors: Hilario Tome, Victor Lopez
1.0.35 (2018-10-17)
- deleted changelogs
- Merge branch 'head' into 'erbium-devel' added open loop parameters See merge request robots/talos_robot!55
- added open loop parameters
- Contributors: Hilario Tome
1.0.34 (2018-09-28)
- Updated changelog
- Contributors: Jordan Palacios
1.0.33 (2018-09-27)
- updated changelog
- Merge branch 'arm_torque_control' into 'erbium-devel' Arm torque control See merge request robots/talos_robot!53
- more parameters for torque control of upper body
- added no control yaml
- tunning
- started adding analytic dob
- removed dt parameter
- Contributors: Hilario Tome
1.0.32 (2018-09-25)
- Updated changelogs
- Merge branch 'current_limit_controller' into 'erbium-devel' Current limit controller config and launch file for TALOS See merge request robots/talos_robot!52
- Current limit controller config and launch file for TALOS
- Contributors: Jordan Palacios, Luca Marchionni
1.0.31 (2018-09-12)
- updated changelogs
- Merge branch 'more_params' into 'erbium-devel' filter factory See merge request robots/talos_robot!51
- filter factory
- Merge branch 'more_params' into 'erbium-devel' cleanup See merge request robots/talos_robot!49
- increased friction compensantion gains
- cleanup
- Contributors: Hilario Tome
1.0.30 (2018-09-06)
- Updated changelog
- Merge branch 'as_torso_torque_control' into 'erbium-devel' Support for position control for all joints but torso See merge request robots/talos_robot!50
- Support for position control for all joints but torso
- Contributors: alexandersherikov
1.0.29 (2018-09-03 20:05)
- update changelog
- Merge branch 'tunnin_dob' into 'erbium-devel' increased dob gains See merge request robots/talos_robot!47
- increased dob gains
- Contributors: Hilario Tome
1.0.28 (2018-09-03 10:22)
- Updated changelog
- Merge branch 'add-planner-wrapper' into 'erbium-devel' Add new PlanningModelParameters field See merge request robots/talos_robot!46
- Add new PlanningModelParameters field
- Contributors: Victor Lopez, alexandersherikov
1.0.27 (2018-08-28)
- updated changelog
- Merge branch 'dob_on' into 'erbium-devel' Dob on See merge request robots/talos_robot!45
- changed torque sensor offsets and added dob
- added velocity tolerance parametes
- Merge branch 'more_params' of gitlab:robots/talos_robot into tunning
- modified motor inertias
- added velocity filtering params
- Contributors: Hilario Tome
1.0.26 (2018-08-24)
- updated changelog
- Merge branch 'tunned_dob' into 'erbium-devel' Tunned dob See merge request robots/talos_robot!44
- set of parameters working for balancing on real robot
- Contributors: Hilario Tome
1.0.25 (2018-08-01 15:05)
- updated changelog
- Merge branch 'moving_support' into 'erbium-devel' added effort controller configuration See merge request robots/talos_robot!40
- added effort controller configuration
- Contributors: Hilario Tome
1.0.24 (2018-08-01 15:03)
- updated changelog
- Merge branch 'default_controllers' into 'erbium-devel' Fix upper_body launch file See merge request robots/talos_robot!42
- Merge branch 'arm_hardware' into 'erbium-devel' Arm hardware See merge request robots/talos_robot!41
- removed shaking but modifing the cutoff filter for joint 1 and 2 of the arm
- added segmented controllers for wrist
- added missing params for left arm
- added gripper safety parameters
- added safety parameters for right amr
- Fix upper_body launch file
- fixed arm and torso actuator parameters
- Contributors: Adrià Roig, Hilario Tome
1.0.23 (2018-07-30)
- updated changelog
- Merge branch 'wbc_grasp_demo' into 'erbium-devel' Fix local_joint_control no control missing gripers See merge request robots/talos_robot!39
- Fix local_joint_control no control missing gripers
- Contributors: Adrià Roig, Hilario Tome
1.0.22 (2018-07-25 18:04)
- Updated changelog
- Merge branch 'as_configuration_initializer_yaml' into 'erbium-devel' configuration_initializer.yaml: additional parameters See merge request robots/talos_robot!38
- configuration_initializer.yaml: additional parameters
- Contributors: alexandersherikov
1.0.21 (2018-07-25 15:16)
- Updated changelog
- Contributors: alexandersherikov
1.0.20 (2018-07-24 17:10)
- Updated changelog
- Merge branch 'as_arm_testbench' into 'erbium-devel' Configuration files for separate arm_right See merge request robots/talos_robot!36
- Configuration files for separate arm_right
- Contributors: alexandersherikov
1.0.19 (2018-07-24 11:02)
- Updated changelog
- configuration_initializer.yaml: adjust safety margin
- Merge branch 'as_controller_utils' into 'erbium-devel' Added utils/: Makefile to send joint commands See merge request robots/talos_robot!24
- Workaround for a delay issue in controller spawner.
- Add configuration_initializer.yaml
- Added README
- Add send_joint_commands.launch, install utils
- Added utils/: Makefile to send joint commands
- Contributors: alexandersherikov
1.0.18 (2018-07-19)
- Updated changelog
- Merge branch 'moving_support' into 'erbium-devel' Allow no control for head and torso. See merge request robots/talos_robot!34
- Allow no control for head and torso.
- Contributors: alexandersherikov
1.0.17 (2018-07-16)
- updated changelog
- Merge branch 'hardware_tunning' into 'erbium-devel' Hardware tunning See merge request robots/talos_robot!23
- added parameters for left leg
- added ripple filter cancelation, and inertia compensation to zero
- added pid leg 1 joint
- right leg full initial tunning done
- right leg 3 5 6 joint tunned
- added safety parameters
- Contributors: Hilario Tome
1.0.16 (2018-07-12)
- Updated changelog
- Contributors: alexandersherikov
1.0.15 (2018-07-11)
- updated changelog
- Contributors: Hilario Tome
1.0.14 (2018-07-10)
- Updated changelog
- Merge branch 'as_plus_head' into 'erbium-devel' Add head to arm-less configuration See merge request robots/talos_robot!30
- Add head to arm-less configuration
- Contributors: alexandersherikov
1.0.13 (2018-07-09)
- Updated changelog
- Contributors: alexandersherikov
1.0.12 (2018-07-04 20:59)
- Updated changelog
- Merge branch 'as_selective_loading' into 'erbium-devel' Refactoring to allow partial robot loading. See merge request robots/talos_robot!26
- Add default locomotion state, fix controller configs
- Fixed typo in default_controllers.launch
- partial models: launch file renames & refactoring
- Refactoring to allow partial robot loading.
- Contributors: alexandersherikov
1.0.11 (2018-07-04 12:15)
- updated changelog
- Contributors: Hilario Tome
1.0.10 (2018-07-04 10:27)
- updated changelog
- Contributors: Hilario Tome
1.0.9 (2018-06-21)
- Updated changelog
- Contributors: alexandersherikov
1.0.8 (2018-06-20)
- updated changelog
- Merge branch 'as_fixes' into 'erbium-devel' As fixes See merge request robots/talos_robot!21
- full_body_position_controllers: parametrize controllers
- Contributors: Hilario Tome, alexandersherikov
1.0.7 (2018-06-19 11:08)
- updated changelog
- Contributors: Hilario Tome
1.0.6 (2018-06-19 00:30)
- updated changelog
- Merge branch 'tunning_hardware' into 'erbium-devel' started adding local joint control parameters See merge request robots/talos_robot!17
- fixed local joint control
- added gripper config files
- finished adding parameters for actuators, they need to be filled with the correct parameters
- started adding local joint control parameters
- Contributors: Hilario Tome
1.0.5 (2018-06-15)
- updated changelog
- Contributors: Hilario Tome
1.0.4 (2018-06-12)
- updated changelog
- Contributors: Hilario Tome
1.0.3 (2018-05-29)
- Update changelog
- Parameters tuning for default robot
- Contributors: Luca Marchionni
1.0.2 (2018-04-18)
- updated changelog
- Merge branch 'fix_simulation' into 'erbium-devel' fixed gripper command mode: See merge request robots/talos_robot!16
- fixed merge
- fixed gripper command mode:
- Contributors: Hilario Tome
1.0.1 (2018-04-13)
- Update changelog
- Contributors: Victor Lopez
1.0.0 (2018-04-12)
- updated changelogs
- Contributors: Hilario Tome
0.0.24 (2018-04-04)
- Update changelog
- Contributors: Victor Lopez
0.0.23 (2018-02-19)
- updated changelog
- changed grippers to effort control for now
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- added local joint control
- Contributors: Hilario Tome
0.0.22 (2017-11-11)
- Update changelog
- Contributors: Victor Lopez
0.0.21 (2017-11-10)
- Update changelog
- Contributors: Victor Lopez
0.0.20 (2017-08-10 16:33)
- updated changelog
- Contributors: Hilario Tome
0.0.19 (2017-08-10 12:41)
- updated changelog
- Contributors: Hilario Tome
0.0.18 (2017-07-26)
- updated changlog
- added missing depend walk utils
- Contributors: Hilario Tomé
0.0.17 (2017-07-18)
- updated changelog
- Added version v1, v2 for urdf and restored walk_pose
- Contributors: Hilario Tomé, luca
0.0.16 (2017-02-17)
- Updated changelog
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- added use safe mode to joint trajectory controllers
- Contributors: Hilario Tome
0.0.15 (2016-11-16)
- Add changelog
- Contributors: Luca
0.0.14 (2016-11-15 18:27)
- Add changelog
- Params tuning and motions
- Added hardware bringup controllers
- Contributors: Hilario Tome, Luca
0.0.13 (2016-11-15 13:10)
- Add changelog
- Lipm z higher because of covers
- Add missing dependency. Walking params and fixed talos motion
- Contributors: Luca
0.0.12 (2016-11-15 10:01)
- Add changelog
- Remove --stopped param from init_offset_controller
- Cleaninng and renaming v2 to default
- Contributors: Luca
0.0.11 (2016-11-12 14:09)
- Add changelog
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- Contributors: Luca
0.0.10 (2016-11-12 12:48)
- Update changelog
- Add missing dependencies to talos_controller_configuration
- Contributors: Victor Lopez
0.0.9 (2016-11-12 11:14)
- Add changelog
- Talos offsets for walking and tuning params
- Contributors: Luca
0.0.8 (2016-11-11)
- Add changelog
- Changed torso joint to Z
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- Contributors: Luca
0.0.7 (2016-11-10 18:45)
- Updated changelog
- Fixed bug package depend head action
- Contributors: Hilario Tome
0.0.6 (2016-11-10 18:16)
- Updated changelog
- Moved the files from talos walking to talos controller configuration
- Contributors: Hilario Tome
0.0.5 (2016-11-10 12:06)
- Updated changelog
- motions for talos, tested on robot
- Contributors: Hilario Tome, Luca
0.0.4 (2016-11-09)
- Updated changelog
- Modified bringup
- Contributors: Hilario Tome
0.0.3 (2016-10-31)
- Updated changelog
- Added joint torque control
- Changed head differential, default controllers stopped
- Succesfull walking in talos, added talos teleop
- Added missing depends and completed bringup
- Contributors: Hilario Tome
0.0.2 (2016-10-13)
- Updated changelog
- Contributors: Hilario Tome
0.0.1 (2016-10-12)
- Created intial changelog
- Fixed merge
- Change gripper motor joint to just side_gripper_joint
- Fix gripper controller and add controller launchers for follow joint trajectory controllers
- Fixing
- Renamed tor to talos
- Contributors: Hilario Tome, Sam Pfeiffer
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| ros2controlcli | |
| joint_state_broadcaster | |
| joint_trajectory_controller | |
| imu_sensor_broadcaster | |
| force_torque_sensor_broadcaster | |
| launch | |
| launch_pal |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged talos_controller_configuration at Robotics Stack Exchange
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talos_controller_configuration package from talos_robot repotalos_bringup talos_controller_configuration talos_description talos_description_calibration talos_description_inertial talos_robot |
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Package Summary
| Tags | No category tags. |
| Version | 1.1.32 |
| License | Apache License 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pal-robotics/talos_robot.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2024-07-05 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The talos_controller_configuration package
Additional Links
No additional links.
Maintainers
- Adria Roig
Authors
No additional authors.
Initialization of joint configurations
======================================
This package provides some low-level utilities for initialization of joint
configurations. `utils` subdirectory contains several preformed messages
`<subtree>.msg` which can be directly sent to the controller of the
corresponding subtree. These messages can be edited manually as needed for
specific cases. The messages can be sent in three ways:
1. Using `rostopic` from the command line.
2. Using Makefile in `utils` subfolder: type `make <subtree>` to send commands
to a subtree, or `make arms`, `make legs`, `make all`.
3. Using `send_joint_commands.launch` launch script, which requires `subtree`
argument to be set to a certain <subtree>, or any of 'arms', 'legs', 'all'.
CHANGELOG
Changelog for package talos_controller_configuration
1.1.32 (2024-07-05)
1.1.31 (2024-04-18)
1.1.30 (2023-11-08)
- Merge branch 'smooth_position_control' into 'erbium-devel' Add parameters for direct_position_control See merge request robots/talos_robot!125
- Update limiter_max_rate parameters in direct position control
- Add parameters for direct_position_control
- Contributors: Adria Roig, Adrià Roig, Sai Kishor Kothakota
1.1.29 (2023-10-24)
- Merge branch 'reset_ft_offset' into 'erbium-devel' Reset ankle FT offset also before starting default controller See merge request robots/talos_robot!124
- Merge branch 'change_license_to_apache' into 'erbium-devel' change public license to Apache License 2.0 See merge request robots/talos_robot!126
- change public license to Apache License 2.0
- Reset ankle FT offset also before starting default controller
- Contributors: Jordan Palacios, Pierre Fernbach, Sai Kishor Kothakota
1.1.28 (2023-02-07)
1.1.27 (2023-01-18)
1.1.26 (2022-10-13)
- Merge branch 'ft_zero_calibration' into 'erbium-devel' Ft zero calibration See merge request robots/talos_robot!117
- Ft zero calibration
- Contributors: Jordan Palacios, maximiliennaveau
1.1.25 (2022-09-19)
1.1.24 (2022-04-20)
1.1.23 (2022-03-02)
- Remove actuator parameters for flexibility joints from this package
- Update stiffness value of hip flexibility to 4000 Nm
- Add actuator params yaml files for the flexibility
- Contributors: Pierre Fernbach
1.1.22 (2022-02-22)
- Fix wrong actuator parameters
- Merge branch 'wrist_zero' into 'erbium-devel' Add procedure to make to zero of the wrist FT sensors See merge request robots/talos_robot!113
- Add option to talos_initialisation script to make the zero set of the wrist FT
- Contributors: Adria Roig, Jordan Palacios, Pierre Fernbach
1.1.21 (2021-12-01)
1.1.20 (2021-11-17)
- Merge branch 'impedance_param_files' into 'erbium-devel' Impedance param files See merge request robots/talos_robot!109
- added default parameters and specifics params file
- added empty impedance parameter files
- Contributors: Adria Roig, Sai Kishor Kothakota
1.1.19 (2021-08-26)
- Merge branch 'kangaroo_wbc' into 'erbium-devel' Add ballscrew parameters in actuators params See merge request robots/talos_robot!108
- Add ballscrew parameters in actuators params
- Contributors: Adria Roig, victor
1.1.18 (2021-05-26)
- Merge branch 'reset_ft_twice' into 'erbium-devel' reset FTs twice before and after launching the default controllers See merge request robots/talos_robot!107
- reset FTs twice before and after launching the default controllers
- Contributors: Sai Kishor Kothakota, saikishor
1.1.17 (2021-03-05)
1.1.16 (2020-11-13)
1.1.15 (2020-08-01)
- Merge branch 'talos6_final' into 'erbium-devel' Talos6 final See merge request robots/talos_robot!103
- Update the new max_distance_impulse for elbow joints
- update the max distance impulse after testing on TALOS-6 with full_v2
- Contributors: Sai Kishor Kothakota, saikishor
1.1.14 (2020-07-30)
1.1.13 (2020-07-30)
- Merge branch 'covers' into 'erbium-devel' Increase safety after testing with covers See merge request robots/talos_robot!102
- Increase safety after testing with covers
- Contributors: Adria Roig, victor
1.1.12 (2020-07-21)
- Merge branch 'initialisation_improvement' into 'erbium-devel' Initialisation improvement See merge request robots/talos_robot!99
- fix the raw input message in talos initialization script
- Added tts client to state the status of initialization
- Contributors: Sai Kishor Kothakota, saikishor
1.1.11 (2020-07-21)
- Merge branch 'default_torques' into 'erbium-devel' Default torques See merge request robots/talos_robot!98
- added the torque offsets that need to be overriden
- Contributors: Adria Roig, Sai Kishor Kothakota
1.1.10 (2020-07-15)
- Merge branch 'max_impulse_tests' into 'erbium-devel' Increase max_impulse_dist for some joints See merge request robots/talos_robot!96
- Increase max_impulse_dist for some joints
- Contributors: Adria Roig, victor
1.1.9 (2020-07-14)
1.1.8 (2020-07-13)
- Set temporal result so we can launch default controllers
- Contributors: Jordan Palacios
1.1.7 (2020-07-02)
- Merge branch '2KHz' into 'erbium-devel' 2 k hz See merge request robots/talos_robot!94
- Tune default safety_parameters
- Set walking controller at 2KHz
- added a way to disable safety for only a set of joints
- Update default_safety_parameters.yaml
- Reduce max impulse
- Contributors: Adria Roig, Adrià Roig, Sai Kishor Kothakota, victor
1.1.6 (2020-06-29)
- Merge branch 'init_script' into 'erbium-devel' Initialisation script See merge request robots/talos_robot!93
- Redirect applications output to a log file
- Use wait() for shell commands
- Don't stop default controllers after starting them
- Launch introspection controller too
- Shell command stdin, stdout and stderr are None by default
- Renamed result parameter
- Fixed ati reset retcode usage
- Using ros logging instead
- Initialisation script
- Contributors: Jordan Palacios, jordanpalacios
1.1.5 (2020-05-08)
1.1.4 (2020-05-06)
1.1.3 (2020-03-05)
1.1.2 (2020-01-14)
- Merge branch 'more_refactor' into 'erbium-devel' remove default safety info from specifics params See merge request robots/talos_robot!84
- remove default safety info from specifics params
- Contributors: Sai Kishor Kothakota
1.1.1 (2020-01-14)
- Merge branch 'specifics_refactor' into 'erbium-devel' added changes to choose the specifics yamls See merge request robots/talos_robot!82
- Revert "added joints to control script" This reverts commit a73220e081a42dcb94a5742feab0fba07c9944cc.
- added joints to control script
- renamed walking offsets yaml to walking_specific_params.yaml
- added optenv based specific_file_path argument
- added actuator_safety_specific_params file
- added specific configuration of inertia shaping control
- added changes to choose the specifics yamls
- Contributors: Jordan Palacios, Sai Kishor Kothakota
1.1.0 (2020-01-10)
1.0.52 (2019-11-29)
1.0.51 (2019-07-15)
- Merge branch 'stance_actuators_test' into 'erbium-devel' changed definitiion of safety override See merge request robots/talos_robot!75
- changed definitiion of safety override
- Contributors: Hilario Tome
1.0.50 (2019-07-10)
- Merge branch 'stance_actuators_test' into 'erbium-devel' Stance actuators test See merge request robots/talos_robot!74
- standing test launches
- Contributors: Hilario Tome
1.0.49 (2019-05-30)
- added head
- Merge branch 'head_hal_differential' into 'erbium-devel' added head config files See merge request robots/talos_robot!72
- added head config files
- Contributors: Hilario Tome
1.0.48 (2019-03-27)
- Merge branch 'reenabled_safety' into 'erbium-devel' reenabled safety See merge request robots/talos_robot!71
- reenabled safety
- Contributors: Hilario Tome
1.0.47 (2019-03-19)
- Merge branch 'actuator_simulation' into 'erbium-devel' working simulator with actuators and torque control on the lower body of talos See merge request robots/talos_robot!70
- added missing gripper actuator parameters
- added missing actuator parameters:
- working simulator with actuators and torque control on the lower body of talos
- Contributors: Hilario Tome
1.0.46 (2019-03-07)
- Merge branch 'walk_pose' into 'erbium-devel' Update walk pose params format See merge request robots/talos_robot!69
- Update walk pose params format
- Change license to LGPL-3.0
- Contributors: Adrià Roig, Hilario Tome, Victor Lopez
1.0.45 (2018-12-20)
- Merge branch 'move-dependencies' into 'erbium-devel' Move dependencies to other packages for public packages See merge request robots/talos_robot!68
- Move dependencies to other packages for public packages
- Contributors: Victor Lopez
1.0.44 (2018-11-29)
- Merge branch 'as_safety' into 'erbium-devel' Add default_safety_parameters.yaml See merge request robots/talos_robot!65
- Drop joint specific safety parameters
- Update default_safety_parameters.yaml
- Add default_safety_parameters.yaml
- Contributors: alexandersherikov
1.0.43 (2018-11-22)
- Load params for v1 too
- Contributors: Jordan Palacios
1.0.42 (2018-11-21)
- Merge branch 'as_partial_tree' into 'erbium-devel' Update URDFModelParameters (configuration_initializer.yaml) See merge request robots/talos_robot!66
- Update URDFModelParameters (configuration_initializer.yaml)
- Contributors: alexandersherikov
1.0.41 (2018-11-20)
- Merge branch 'as_param_fix' into 'erbium-devel' Update PlanningModelParameters in configuration_initializer.yaml See merge request robots/talos_robot!67
- Update PlanningModelParameters in configuration_initializer.yaml
- Contributors: alexandersherikov
1.0.40 (2018-11-02)
1.0.39 (2018-10-25)
- Merge branch 'as_drop_deprecated_cfg' into 'erbium-devel' Drop deprecated CollisionModelParameters See merge request robots/talos_robot!63
- Drop deprecated CollisionModelParameters
- Contributors: alexandersherikov
1.0.38 (2018-10-24)
1.0.37 (2018-10-23)
- Merge branch 'as_self_coll_merge_test' into 'erbium-devel' As self coll merge test See merge request robots/talos_robot!61
- Temporary revert changes in configuration_initializer.yaml This should allow to merge changes without breaking tests.
- Merge branch 'as_self_coll_merge_test' into as_sim_self_collisions
- Update collision model parameters.
- Update collision model parameters.
- Contributors: alexandersherikov
1.0.36 (2018-10-18)
- Merge branch 'type_current_limit' into 'erbium-devel' fixed type current limit controllers See merge request robots/talos_robot!58
- fixed type current limit controllers
- Contributors: Hilario Tome, Victor Lopez
1.0.35 (2018-10-17)
- deleted changelogs
- Merge branch 'head' into 'erbium-devel' added open loop parameters See merge request robots/talos_robot!55
- added open loop parameters
- Contributors: Hilario Tome
1.0.34 (2018-09-28)
- Updated changelog
- Contributors: Jordan Palacios
1.0.33 (2018-09-27)
- updated changelog
- Merge branch 'arm_torque_control' into 'erbium-devel' Arm torque control See merge request robots/talos_robot!53
- more parameters for torque control of upper body
- added no control yaml
- tunning
- started adding analytic dob
- removed dt parameter
- Contributors: Hilario Tome
1.0.32 (2018-09-25)
- Updated changelogs
- Merge branch 'current_limit_controller' into 'erbium-devel' Current limit controller config and launch file for TALOS See merge request robots/talos_robot!52
- Current limit controller config and launch file for TALOS
- Contributors: Jordan Palacios, Luca Marchionni
1.0.31 (2018-09-12)
- updated changelogs
- Merge branch 'more_params' into 'erbium-devel' filter factory See merge request robots/talos_robot!51
- filter factory
- Merge branch 'more_params' into 'erbium-devel' cleanup See merge request robots/talos_robot!49
- increased friction compensantion gains
- cleanup
- Contributors: Hilario Tome
1.0.30 (2018-09-06)
- Updated changelog
- Merge branch 'as_torso_torque_control' into 'erbium-devel' Support for position control for all joints but torso See merge request robots/talos_robot!50
- Support for position control for all joints but torso
- Contributors: alexandersherikov
1.0.29 (2018-09-03 20:05)
- update changelog
- Merge branch 'tunnin_dob' into 'erbium-devel' increased dob gains See merge request robots/talos_robot!47
- increased dob gains
- Contributors: Hilario Tome
1.0.28 (2018-09-03 10:22)
- Updated changelog
- Merge branch 'add-planner-wrapper' into 'erbium-devel' Add new PlanningModelParameters field See merge request robots/talos_robot!46
- Add new PlanningModelParameters field
- Contributors: Victor Lopez, alexandersherikov
1.0.27 (2018-08-28)
- updated changelog
- Merge branch 'dob_on' into 'erbium-devel' Dob on See merge request robots/talos_robot!45
- changed torque sensor offsets and added dob
- added velocity tolerance parametes
- Merge branch 'more_params' of gitlab:robots/talos_robot into tunning
- modified motor inertias
- added velocity filtering params
- Contributors: Hilario Tome
1.0.26 (2018-08-24)
- updated changelog
- Merge branch 'tunned_dob' into 'erbium-devel' Tunned dob See merge request robots/talos_robot!44
- set of parameters working for balancing on real robot
- Contributors: Hilario Tome
1.0.25 (2018-08-01 15:05)
- updated changelog
- Merge branch 'moving_support' into 'erbium-devel' added effort controller configuration See merge request robots/talos_robot!40
- added effort controller configuration
- Contributors: Hilario Tome
1.0.24 (2018-08-01 15:03)
- updated changelog
- Merge branch 'default_controllers' into 'erbium-devel' Fix upper_body launch file See merge request robots/talos_robot!42
- Merge branch 'arm_hardware' into 'erbium-devel' Arm hardware See merge request robots/talos_robot!41
- removed shaking but modifing the cutoff filter for joint 1 and 2 of the arm
- added segmented controllers for wrist
- added missing params for left arm
- added gripper safety parameters
- added safety parameters for right amr
- Fix upper_body launch file
- fixed arm and torso actuator parameters
- Contributors: Adrià Roig, Hilario Tome
1.0.23 (2018-07-30)
- updated changelog
- Merge branch 'wbc_grasp_demo' into 'erbium-devel' Fix local_joint_control no control missing gripers See merge request robots/talos_robot!39
- Fix local_joint_control no control missing gripers
- Contributors: Adrià Roig, Hilario Tome
1.0.22 (2018-07-25 18:04)
- Updated changelog
- Merge branch 'as_configuration_initializer_yaml' into 'erbium-devel' configuration_initializer.yaml: additional parameters See merge request robots/talos_robot!38
- configuration_initializer.yaml: additional parameters
- Contributors: alexandersherikov
1.0.21 (2018-07-25 15:16)
- Updated changelog
- Contributors: alexandersherikov
1.0.20 (2018-07-24 17:10)
- Updated changelog
- Merge branch 'as_arm_testbench' into 'erbium-devel' Configuration files for separate arm_right See merge request robots/talos_robot!36
- Configuration files for separate arm_right
- Contributors: alexandersherikov
1.0.19 (2018-07-24 11:02)
- Updated changelog
- configuration_initializer.yaml: adjust safety margin
- Merge branch 'as_controller_utils' into 'erbium-devel' Added utils/: Makefile to send joint commands See merge request robots/talos_robot!24
- Workaround for a delay issue in controller spawner.
- Add configuration_initializer.yaml
- Added README
- Add send_joint_commands.launch, install utils
- Added utils/: Makefile to send joint commands
- Contributors: alexandersherikov
1.0.18 (2018-07-19)
- Updated changelog
- Merge branch 'moving_support' into 'erbium-devel' Allow no control for head and torso. See merge request robots/talos_robot!34
- Allow no control for head and torso.
- Contributors: alexandersherikov
1.0.17 (2018-07-16)
- updated changelog
- Merge branch 'hardware_tunning' into 'erbium-devel' Hardware tunning See merge request robots/talos_robot!23
- added parameters for left leg
- added ripple filter cancelation, and inertia compensation to zero
- added pid leg 1 joint
- right leg full initial tunning done
- right leg 3 5 6 joint tunned
- added safety parameters
- Contributors: Hilario Tome
1.0.16 (2018-07-12)
- Updated changelog
- Contributors: alexandersherikov
1.0.15 (2018-07-11)
- updated changelog
- Contributors: Hilario Tome
1.0.14 (2018-07-10)
- Updated changelog
- Merge branch 'as_plus_head' into 'erbium-devel' Add head to arm-less configuration See merge request robots/talos_robot!30
- Add head to arm-less configuration
- Contributors: alexandersherikov
1.0.13 (2018-07-09)
- Updated changelog
- Contributors: alexandersherikov
1.0.12 (2018-07-04 20:59)
- Updated changelog
- Merge branch 'as_selective_loading' into 'erbium-devel' Refactoring to allow partial robot loading. See merge request robots/talos_robot!26
- Add default locomotion state, fix controller configs
- Fixed typo in default_controllers.launch
- partial models: launch file renames & refactoring
- Refactoring to allow partial robot loading.
- Contributors: alexandersherikov
1.0.11 (2018-07-04 12:15)
- updated changelog
- Contributors: Hilario Tome
1.0.10 (2018-07-04 10:27)
- updated changelog
- Contributors: Hilario Tome
1.0.9 (2018-06-21)
- Updated changelog
- Contributors: alexandersherikov
1.0.8 (2018-06-20)
- updated changelog
- Merge branch 'as_fixes' into 'erbium-devel' As fixes See merge request robots/talos_robot!21
- full_body_position_controllers: parametrize controllers
- Contributors: Hilario Tome, alexandersherikov
1.0.7 (2018-06-19 11:08)
- updated changelog
- Contributors: Hilario Tome
1.0.6 (2018-06-19 00:30)
- updated changelog
- Merge branch 'tunning_hardware' into 'erbium-devel' started adding local joint control parameters See merge request robots/talos_robot!17
- fixed local joint control
- added gripper config files
- finished adding parameters for actuators, they need to be filled with the correct parameters
- started adding local joint control parameters
- Contributors: Hilario Tome
1.0.5 (2018-06-15)
- updated changelog
- Contributors: Hilario Tome
1.0.4 (2018-06-12)
- updated changelog
- Contributors: Hilario Tome
1.0.3 (2018-05-29)
- Update changelog
- Parameters tuning for default robot
- Contributors: Luca Marchionni
1.0.2 (2018-04-18)
- updated changelog
- Merge branch 'fix_simulation' into 'erbium-devel' fixed gripper command mode: See merge request robots/talos_robot!16
- fixed merge
- fixed gripper command mode:
- Contributors: Hilario Tome
1.0.1 (2018-04-13)
- Update changelog
- Contributors: Victor Lopez
1.0.0 (2018-04-12)
- updated changelogs
- Contributors: Hilario Tome
0.0.24 (2018-04-04)
- Update changelog
- Contributors: Victor Lopez
0.0.23 (2018-02-19)
- updated changelog
- changed grippers to effort control for now
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- added local joint control
- Contributors: Hilario Tome
0.0.22 (2017-11-11)
- Update changelog
- Contributors: Victor Lopez
0.0.21 (2017-11-10)
- Update changelog
- Contributors: Victor Lopez
0.0.20 (2017-08-10 16:33)
- updated changelog
- Contributors: Hilario Tome
0.0.19 (2017-08-10 12:41)
- updated changelog
- Contributors: Hilario Tome
0.0.18 (2017-07-26)
- updated changlog
- added missing depend walk utils
- Contributors: Hilario Tomé
0.0.17 (2017-07-18)
- updated changelog
- Added version v1, v2 for urdf and restored walk_pose
- Contributors: Hilario Tomé, luca
0.0.16 (2017-02-17)
- Updated changelog
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- added use safe mode to joint trajectory controllers
- Contributors: Hilario Tome
0.0.15 (2016-11-16)
- Add changelog
- Contributors: Luca
0.0.14 (2016-11-15 18:27)
- Add changelog
- Params tuning and motions
- Added hardware bringup controllers
- Contributors: Hilario Tome, Luca
0.0.13 (2016-11-15 13:10)
- Add changelog
- Lipm z higher because of covers
- Add missing dependency. Walking params and fixed talos motion
- Contributors: Luca
0.0.12 (2016-11-15 10:01)
- Add changelog
- Remove --stopped param from init_offset_controller
- Cleaninng and renaming v2 to default
- Contributors: Luca
0.0.11 (2016-11-12 14:09)
- Add changelog
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- Contributors: Luca
0.0.10 (2016-11-12 12:48)
- Update changelog
- Add missing dependencies to talos_controller_configuration
- Contributors: Victor Lopez
0.0.9 (2016-11-12 11:14)
- Add changelog
- Talos offsets for walking and tuning params
- Contributors: Luca
0.0.8 (2016-11-11)
- Add changelog
- Changed torso joint to Z
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- Contributors: Luca
0.0.7 (2016-11-10 18:45)
- Updated changelog
- Fixed bug package depend head action
- Contributors: Hilario Tome
0.0.6 (2016-11-10 18:16)
- Updated changelog
- Moved the files from talos walking to talos controller configuration
- Contributors: Hilario Tome
0.0.5 (2016-11-10 12:06)
- Updated changelog
- motions for talos, tested on robot
- Contributors: Hilario Tome, Luca
0.0.4 (2016-11-09)
- Updated changelog
- Modified bringup
- Contributors: Hilario Tome
0.0.3 (2016-10-31)
- Updated changelog
- Added joint torque control
- Changed head differential, default controllers stopped
- Succesfull walking in talos, added talos teleop
- Added missing depends and completed bringup
- Contributors: Hilario Tome
0.0.2 (2016-10-13)
- Updated changelog
- Contributors: Hilario Tome
0.0.1 (2016-10-12)
- Created intial changelog
- Fixed merge
- Change gripper motor joint to just side_gripper_joint
- Fix gripper controller and add controller launchers for follow joint trajectory controllers
- Fixing
- Renamed tor to talos
- Contributors: Hilario Tome, Sam Pfeiffer
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| imu_sensor_controller | |
| force_torque_sensor_controller | |
| joint_trajectory_controller | |
| controller_manager | |
| joint_state_controller | |
| walking_controller | |
| walking_utils | |
| head_action | |
| current_limit_controller |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| talos_bringup | |
| talos_robot |
Launch files
- launch/walk_pose.launch
- launch/walking_controller.launch
- launch/current_limit_controllers.launch
- launch/talos_homing_controller.launch
- launch/position_controllers.launch
-
- robot [default: full_v2]
- enable_unloading_workaround [default: false]
- controllers [default: ]
- launch/bringup_controllers.launch
-
- enable_unloading_workaround [default: false]
- launch/send_joint_commands.launch
-
- subtree
- launch/full_body_position_controllers.launch
-
- robot [default: full_v2]
- controllers [default: ]
- launch/local_joint_control/torso.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/leg_right.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/head.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/gripper_left.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/arm_right.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/wrist_right.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/gripper_right.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/launcher.launch
-
- local_joint_control_type
- local_joint_control_pkg [default: pal_local_joint_control]
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: full_v2]
- open_loop [default: false]
- safety_override [default: false]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/wrist_left.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/leg_left.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/arm_left.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/init_offset_controller.launch
- launch/default_controllers.launch
- launch/upper_body_position_controllers.launch
- launch/selective_rosparam_loader.launch
-
- prefix
- robot [default: full_v2]
- launch/bringup_controllers_hardware.launch
Messages
Services
No service files found
Plugins
No plugins found.
Recent questions tagged talos_controller_configuration at Robotics Stack Exchange
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talos_controller_configuration package from talos_robot repotalos_bringup talos_controller_configuration talos_description talos_description_calibration talos_description_inertial talos_robot |
|
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Package Summary
| Tags | No category tags. |
| Version | 1.1.32 |
| License | Apache License 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pal-robotics/talos_robot.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2024-07-05 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The talos_controller_configuration package
Additional Links
No additional links.
Maintainers
- Adria Roig
Authors
No additional authors.
Initialization of joint configurations
======================================
This package provides some low-level utilities for initialization of joint
configurations. `utils` subdirectory contains several preformed messages
`<subtree>.msg` which can be directly sent to the controller of the
corresponding subtree. These messages can be edited manually as needed for
specific cases. The messages can be sent in three ways:
1. Using `rostopic` from the command line.
2. Using Makefile in `utils` subfolder: type `make <subtree>` to send commands
to a subtree, or `make arms`, `make legs`, `make all`.
3. Using `send_joint_commands.launch` launch script, which requires `subtree`
argument to be set to a certain <subtree>, or any of 'arms', 'legs', 'all'.
CHANGELOG
Changelog for package talos_controller_configuration
1.1.32 (2024-07-05)
1.1.31 (2024-04-18)
1.1.30 (2023-11-08)
- Merge branch 'smooth_position_control' into 'erbium-devel' Add parameters for direct_position_control See merge request robots/talos_robot!125
- Update limiter_max_rate parameters in direct position control
- Add parameters for direct_position_control
- Contributors: Adria Roig, Adrià Roig, Sai Kishor Kothakota
1.1.29 (2023-10-24)
- Merge branch 'reset_ft_offset' into 'erbium-devel' Reset ankle FT offset also before starting default controller See merge request robots/talos_robot!124
- Merge branch 'change_license_to_apache' into 'erbium-devel' change public license to Apache License 2.0 See merge request robots/talos_robot!126
- change public license to Apache License 2.0
- Reset ankle FT offset also before starting default controller
- Contributors: Jordan Palacios, Pierre Fernbach, Sai Kishor Kothakota
1.1.28 (2023-02-07)
1.1.27 (2023-01-18)
1.1.26 (2022-10-13)
- Merge branch 'ft_zero_calibration' into 'erbium-devel' Ft zero calibration See merge request robots/talos_robot!117
- Ft zero calibration
- Contributors: Jordan Palacios, maximiliennaveau
1.1.25 (2022-09-19)
1.1.24 (2022-04-20)
1.1.23 (2022-03-02)
- Remove actuator parameters for flexibility joints from this package
- Update stiffness value of hip flexibility to 4000 Nm
- Add actuator params yaml files for the flexibility
- Contributors: Pierre Fernbach
1.1.22 (2022-02-22)
- Fix wrong actuator parameters
- Merge branch 'wrist_zero' into 'erbium-devel' Add procedure to make to zero of the wrist FT sensors See merge request robots/talos_robot!113
- Add option to talos_initialisation script to make the zero set of the wrist FT
- Contributors: Adria Roig, Jordan Palacios, Pierre Fernbach
1.1.21 (2021-12-01)
1.1.20 (2021-11-17)
- Merge branch 'impedance_param_files' into 'erbium-devel' Impedance param files See merge request robots/talos_robot!109
- added default parameters and specifics params file
- added empty impedance parameter files
- Contributors: Adria Roig, Sai Kishor Kothakota
1.1.19 (2021-08-26)
- Merge branch 'kangaroo_wbc' into 'erbium-devel' Add ballscrew parameters in actuators params See merge request robots/talos_robot!108
- Add ballscrew parameters in actuators params
- Contributors: Adria Roig, victor
1.1.18 (2021-05-26)
- Merge branch 'reset_ft_twice' into 'erbium-devel' reset FTs twice before and after launching the default controllers See merge request robots/talos_robot!107
- reset FTs twice before and after launching the default controllers
- Contributors: Sai Kishor Kothakota, saikishor
1.1.17 (2021-03-05)
1.1.16 (2020-11-13)
1.1.15 (2020-08-01)
- Merge branch 'talos6_final' into 'erbium-devel' Talos6 final See merge request robots/talos_robot!103
- Update the new max_distance_impulse for elbow joints
- update the max distance impulse after testing on TALOS-6 with full_v2
- Contributors: Sai Kishor Kothakota, saikishor
1.1.14 (2020-07-30)
1.1.13 (2020-07-30)
- Merge branch 'covers' into 'erbium-devel' Increase safety after testing with covers See merge request robots/talos_robot!102
- Increase safety after testing with covers
- Contributors: Adria Roig, victor
1.1.12 (2020-07-21)
- Merge branch 'initialisation_improvement' into 'erbium-devel' Initialisation improvement See merge request robots/talos_robot!99
- fix the raw input message in talos initialization script
- Added tts client to state the status of initialization
- Contributors: Sai Kishor Kothakota, saikishor
1.1.11 (2020-07-21)
- Merge branch 'default_torques' into 'erbium-devel' Default torques See merge request robots/talos_robot!98
- added the torque offsets that need to be overriden
- Contributors: Adria Roig, Sai Kishor Kothakota
1.1.10 (2020-07-15)
- Merge branch 'max_impulse_tests' into 'erbium-devel' Increase max_impulse_dist for some joints See merge request robots/talos_robot!96
- Increase max_impulse_dist for some joints
- Contributors: Adria Roig, victor
1.1.9 (2020-07-14)
1.1.8 (2020-07-13)
- Set temporal result so we can launch default controllers
- Contributors: Jordan Palacios
1.1.7 (2020-07-02)
- Merge branch '2KHz' into 'erbium-devel' 2 k hz See merge request robots/talos_robot!94
- Tune default safety_parameters
- Set walking controller at 2KHz
- added a way to disable safety for only a set of joints
- Update default_safety_parameters.yaml
- Reduce max impulse
- Contributors: Adria Roig, Adrià Roig, Sai Kishor Kothakota, victor
1.1.6 (2020-06-29)
- Merge branch 'init_script' into 'erbium-devel' Initialisation script See merge request robots/talos_robot!93
- Redirect applications output to a log file
- Use wait() for shell commands
- Don't stop default controllers after starting them
- Launch introspection controller too
- Shell command stdin, stdout and stderr are None by default
- Renamed result parameter
- Fixed ati reset retcode usage
- Using ros logging instead
- Initialisation script
- Contributors: Jordan Palacios, jordanpalacios
1.1.5 (2020-05-08)
1.1.4 (2020-05-06)
1.1.3 (2020-03-05)
1.1.2 (2020-01-14)
- Merge branch 'more_refactor' into 'erbium-devel' remove default safety info from specifics params See merge request robots/talos_robot!84
- remove default safety info from specifics params
- Contributors: Sai Kishor Kothakota
1.1.1 (2020-01-14)
- Merge branch 'specifics_refactor' into 'erbium-devel' added changes to choose the specifics yamls See merge request robots/talos_robot!82
- Revert "added joints to control script" This reverts commit a73220e081a42dcb94a5742feab0fba07c9944cc.
- added joints to control script
- renamed walking offsets yaml to walking_specific_params.yaml
- added optenv based specific_file_path argument
- added actuator_safety_specific_params file
- added specific configuration of inertia shaping control
- added changes to choose the specifics yamls
- Contributors: Jordan Palacios, Sai Kishor Kothakota
1.1.0 (2020-01-10)
1.0.52 (2019-11-29)
1.0.51 (2019-07-15)
- Merge branch 'stance_actuators_test' into 'erbium-devel' changed definitiion of safety override See merge request robots/talos_robot!75
- changed definitiion of safety override
- Contributors: Hilario Tome
1.0.50 (2019-07-10)
- Merge branch 'stance_actuators_test' into 'erbium-devel' Stance actuators test See merge request robots/talos_robot!74
- standing test launches
- Contributors: Hilario Tome
1.0.49 (2019-05-30)
- added head
- Merge branch 'head_hal_differential' into 'erbium-devel' added head config files See merge request robots/talos_robot!72
- added head config files
- Contributors: Hilario Tome
1.0.48 (2019-03-27)
- Merge branch 'reenabled_safety' into 'erbium-devel' reenabled safety See merge request robots/talos_robot!71
- reenabled safety
- Contributors: Hilario Tome
1.0.47 (2019-03-19)
- Merge branch 'actuator_simulation' into 'erbium-devel' working simulator with actuators and torque control on the lower body of talos See merge request robots/talos_robot!70
- added missing gripper actuator parameters
- added missing actuator parameters:
- working simulator with actuators and torque control on the lower body of talos
- Contributors: Hilario Tome
1.0.46 (2019-03-07)
- Merge branch 'walk_pose' into 'erbium-devel' Update walk pose params format See merge request robots/talos_robot!69
- Update walk pose params format
- Change license to LGPL-3.0
- Contributors: Adrià Roig, Hilario Tome, Victor Lopez
1.0.45 (2018-12-20)
- Merge branch 'move-dependencies' into 'erbium-devel' Move dependencies to other packages for public packages See merge request robots/talos_robot!68
- Move dependencies to other packages for public packages
- Contributors: Victor Lopez
1.0.44 (2018-11-29)
- Merge branch 'as_safety' into 'erbium-devel' Add default_safety_parameters.yaml See merge request robots/talos_robot!65
- Drop joint specific safety parameters
- Update default_safety_parameters.yaml
- Add default_safety_parameters.yaml
- Contributors: alexandersherikov
1.0.43 (2018-11-22)
- Load params for v1 too
- Contributors: Jordan Palacios
1.0.42 (2018-11-21)
- Merge branch 'as_partial_tree' into 'erbium-devel' Update URDFModelParameters (configuration_initializer.yaml) See merge request robots/talos_robot!66
- Update URDFModelParameters (configuration_initializer.yaml)
- Contributors: alexandersherikov
1.0.41 (2018-11-20)
- Merge branch 'as_param_fix' into 'erbium-devel' Update PlanningModelParameters in configuration_initializer.yaml See merge request robots/talos_robot!67
- Update PlanningModelParameters in configuration_initializer.yaml
- Contributors: alexandersherikov
1.0.40 (2018-11-02)
1.0.39 (2018-10-25)
- Merge branch 'as_drop_deprecated_cfg' into 'erbium-devel' Drop deprecated CollisionModelParameters See merge request robots/talos_robot!63
- Drop deprecated CollisionModelParameters
- Contributors: alexandersherikov
1.0.38 (2018-10-24)
1.0.37 (2018-10-23)
- Merge branch 'as_self_coll_merge_test' into 'erbium-devel' As self coll merge test See merge request robots/talos_robot!61
- Temporary revert changes in configuration_initializer.yaml This should allow to merge changes without breaking tests.
- Merge branch 'as_self_coll_merge_test' into as_sim_self_collisions
- Update collision model parameters.
- Update collision model parameters.
- Contributors: alexandersherikov
1.0.36 (2018-10-18)
- Merge branch 'type_current_limit' into 'erbium-devel' fixed type current limit controllers See merge request robots/talos_robot!58
- fixed type current limit controllers
- Contributors: Hilario Tome, Victor Lopez
1.0.35 (2018-10-17)
- deleted changelogs
- Merge branch 'head' into 'erbium-devel' added open loop parameters See merge request robots/talos_robot!55
- added open loop parameters
- Contributors: Hilario Tome
1.0.34 (2018-09-28)
- Updated changelog
- Contributors: Jordan Palacios
1.0.33 (2018-09-27)
- updated changelog
- Merge branch 'arm_torque_control' into 'erbium-devel' Arm torque control See merge request robots/talos_robot!53
- more parameters for torque control of upper body
- added no control yaml
- tunning
- started adding analytic dob
- removed dt parameter
- Contributors: Hilario Tome
1.0.32 (2018-09-25)
- Updated changelogs
- Merge branch 'current_limit_controller' into 'erbium-devel' Current limit controller config and launch file for TALOS See merge request robots/talos_robot!52
- Current limit controller config and launch file for TALOS
- Contributors: Jordan Palacios, Luca Marchionni
1.0.31 (2018-09-12)
- updated changelogs
- Merge branch 'more_params' into 'erbium-devel' filter factory See merge request robots/talos_robot!51
- filter factory
- Merge branch 'more_params' into 'erbium-devel' cleanup See merge request robots/talos_robot!49
- increased friction compensantion gains
- cleanup
- Contributors: Hilario Tome
1.0.30 (2018-09-06)
- Updated changelog
- Merge branch 'as_torso_torque_control' into 'erbium-devel' Support for position control for all joints but torso See merge request robots/talos_robot!50
- Support for position control for all joints but torso
- Contributors: alexandersherikov
1.0.29 (2018-09-03 20:05)
- update changelog
- Merge branch 'tunnin_dob' into 'erbium-devel' increased dob gains See merge request robots/talos_robot!47
- increased dob gains
- Contributors: Hilario Tome
1.0.28 (2018-09-03 10:22)
- Updated changelog
- Merge branch 'add-planner-wrapper' into 'erbium-devel' Add new PlanningModelParameters field See merge request robots/talos_robot!46
- Add new PlanningModelParameters field
- Contributors: Victor Lopez, alexandersherikov
1.0.27 (2018-08-28)
- updated changelog
- Merge branch 'dob_on' into 'erbium-devel' Dob on See merge request robots/talos_robot!45
- changed torque sensor offsets and added dob
- added velocity tolerance parametes
- Merge branch 'more_params' of gitlab:robots/talos_robot into tunning
- modified motor inertias
- added velocity filtering params
- Contributors: Hilario Tome
1.0.26 (2018-08-24)
- updated changelog
- Merge branch 'tunned_dob' into 'erbium-devel' Tunned dob See merge request robots/talos_robot!44
- set of parameters working for balancing on real robot
- Contributors: Hilario Tome
1.0.25 (2018-08-01 15:05)
- updated changelog
- Merge branch 'moving_support' into 'erbium-devel' added effort controller configuration See merge request robots/talos_robot!40
- added effort controller configuration
- Contributors: Hilario Tome
1.0.24 (2018-08-01 15:03)
- updated changelog
- Merge branch 'default_controllers' into 'erbium-devel' Fix upper_body launch file See merge request robots/talos_robot!42
- Merge branch 'arm_hardware' into 'erbium-devel' Arm hardware See merge request robots/talos_robot!41
- removed shaking but modifing the cutoff filter for joint 1 and 2 of the arm
- added segmented controllers for wrist
- added missing params for left arm
- added gripper safety parameters
- added safety parameters for right amr
- Fix upper_body launch file
- fixed arm and torso actuator parameters
- Contributors: Adrià Roig, Hilario Tome
1.0.23 (2018-07-30)
- updated changelog
- Merge branch 'wbc_grasp_demo' into 'erbium-devel' Fix local_joint_control no control missing gripers See merge request robots/talos_robot!39
- Fix local_joint_control no control missing gripers
- Contributors: Adrià Roig, Hilario Tome
1.0.22 (2018-07-25 18:04)
- Updated changelog
- Merge branch 'as_configuration_initializer_yaml' into 'erbium-devel' configuration_initializer.yaml: additional parameters See merge request robots/talos_robot!38
- configuration_initializer.yaml: additional parameters
- Contributors: alexandersherikov
1.0.21 (2018-07-25 15:16)
- Updated changelog
- Contributors: alexandersherikov
1.0.20 (2018-07-24 17:10)
- Updated changelog
- Merge branch 'as_arm_testbench' into 'erbium-devel' Configuration files for separate arm_right See merge request robots/talos_robot!36
- Configuration files for separate arm_right
- Contributors: alexandersherikov
1.0.19 (2018-07-24 11:02)
- Updated changelog
- configuration_initializer.yaml: adjust safety margin
- Merge branch 'as_controller_utils' into 'erbium-devel' Added utils/: Makefile to send joint commands See merge request robots/talos_robot!24
- Workaround for a delay issue in controller spawner.
- Add configuration_initializer.yaml
- Added README
- Add send_joint_commands.launch, install utils
- Added utils/: Makefile to send joint commands
- Contributors: alexandersherikov
1.0.18 (2018-07-19)
- Updated changelog
- Merge branch 'moving_support' into 'erbium-devel' Allow no control for head and torso. See merge request robots/talos_robot!34
- Allow no control for head and torso.
- Contributors: alexandersherikov
1.0.17 (2018-07-16)
- updated changelog
- Merge branch 'hardware_tunning' into 'erbium-devel' Hardware tunning See merge request robots/talos_robot!23
- added parameters for left leg
- added ripple filter cancelation, and inertia compensation to zero
- added pid leg 1 joint
- right leg full initial tunning done
- right leg 3 5 6 joint tunned
- added safety parameters
- Contributors: Hilario Tome
1.0.16 (2018-07-12)
- Updated changelog
- Contributors: alexandersherikov
1.0.15 (2018-07-11)
- updated changelog
- Contributors: Hilario Tome
1.0.14 (2018-07-10)
- Updated changelog
- Merge branch 'as_plus_head' into 'erbium-devel' Add head to arm-less configuration See merge request robots/talos_robot!30
- Add head to arm-less configuration
- Contributors: alexandersherikov
1.0.13 (2018-07-09)
- Updated changelog
- Contributors: alexandersherikov
1.0.12 (2018-07-04 20:59)
- Updated changelog
- Merge branch 'as_selective_loading' into 'erbium-devel' Refactoring to allow partial robot loading. See merge request robots/talos_robot!26
- Add default locomotion state, fix controller configs
- Fixed typo in default_controllers.launch
- partial models: launch file renames & refactoring
- Refactoring to allow partial robot loading.
- Contributors: alexandersherikov
1.0.11 (2018-07-04 12:15)
- updated changelog
- Contributors: Hilario Tome
1.0.10 (2018-07-04 10:27)
- updated changelog
- Contributors: Hilario Tome
1.0.9 (2018-06-21)
- Updated changelog
- Contributors: alexandersherikov
1.0.8 (2018-06-20)
- updated changelog
- Merge branch 'as_fixes' into 'erbium-devel' As fixes See merge request robots/talos_robot!21
- full_body_position_controllers: parametrize controllers
- Contributors: Hilario Tome, alexandersherikov
1.0.7 (2018-06-19 11:08)
- updated changelog
- Contributors: Hilario Tome
1.0.6 (2018-06-19 00:30)
- updated changelog
- Merge branch 'tunning_hardware' into 'erbium-devel' started adding local joint control parameters See merge request robots/talos_robot!17
- fixed local joint control
- added gripper config files
- finished adding parameters for actuators, they need to be filled with the correct parameters
- started adding local joint control parameters
- Contributors: Hilario Tome
1.0.5 (2018-06-15)
- updated changelog
- Contributors: Hilario Tome
1.0.4 (2018-06-12)
- updated changelog
- Contributors: Hilario Tome
1.0.3 (2018-05-29)
- Update changelog
- Parameters tuning for default robot
- Contributors: Luca Marchionni
1.0.2 (2018-04-18)
- updated changelog
- Merge branch 'fix_simulation' into 'erbium-devel' fixed gripper command mode: See merge request robots/talos_robot!16
- fixed merge
- fixed gripper command mode:
- Contributors: Hilario Tome
1.0.1 (2018-04-13)
- Update changelog
- Contributors: Victor Lopez
1.0.0 (2018-04-12)
- updated changelogs
- Contributors: Hilario Tome
0.0.24 (2018-04-04)
- Update changelog
- Contributors: Victor Lopez
0.0.23 (2018-02-19)
- updated changelog
- changed grippers to effort control for now
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- added local joint control
- Contributors: Hilario Tome
0.0.22 (2017-11-11)
- Update changelog
- Contributors: Victor Lopez
0.0.21 (2017-11-10)
- Update changelog
- Contributors: Victor Lopez
0.0.20 (2017-08-10 16:33)
- updated changelog
- Contributors: Hilario Tome
0.0.19 (2017-08-10 12:41)
- updated changelog
- Contributors: Hilario Tome
0.0.18 (2017-07-26)
- updated changlog
- added missing depend walk utils
- Contributors: Hilario Tomé
0.0.17 (2017-07-18)
- updated changelog
- Added version v1, v2 for urdf and restored walk_pose
- Contributors: Hilario Tomé, luca
0.0.16 (2017-02-17)
- Updated changelog
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- added use safe mode to joint trajectory controllers
- Contributors: Hilario Tome
0.0.15 (2016-11-16)
- Add changelog
- Contributors: Luca
0.0.14 (2016-11-15 18:27)
- Add changelog
- Params tuning and motions
- Added hardware bringup controllers
- Contributors: Hilario Tome, Luca
0.0.13 (2016-11-15 13:10)
- Add changelog
- Lipm z higher because of covers
- Add missing dependency. Walking params and fixed talos motion
- Contributors: Luca
0.0.12 (2016-11-15 10:01)
- Add changelog
- Remove --stopped param from init_offset_controller
- Cleaninng and renaming v2 to default
- Contributors: Luca
0.0.11 (2016-11-12 14:09)
- Add changelog
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- Contributors: Luca
0.0.10 (2016-11-12 12:48)
- Update changelog
- Add missing dependencies to talos_controller_configuration
- Contributors: Victor Lopez
0.0.9 (2016-11-12 11:14)
- Add changelog
- Talos offsets for walking and tuning params
- Contributors: Luca
0.0.8 (2016-11-11)
- Add changelog
- Changed torso joint to Z
- Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
- Contributors: Luca
0.0.7 (2016-11-10 18:45)
- Updated changelog
- Fixed bug package depend head action
- Contributors: Hilario Tome
0.0.6 (2016-11-10 18:16)
- Updated changelog
- Moved the files from talos walking to talos controller configuration
- Contributors: Hilario Tome
0.0.5 (2016-11-10 12:06)
- Updated changelog
- motions for talos, tested on robot
- Contributors: Hilario Tome, Luca
0.0.4 (2016-11-09)
- Updated changelog
- Modified bringup
- Contributors: Hilario Tome
0.0.3 (2016-10-31)
- Updated changelog
- Added joint torque control
- Changed head differential, default controllers stopped
- Succesfull walking in talos, added talos teleop
- Added missing depends and completed bringup
- Contributors: Hilario Tome
0.0.2 (2016-10-13)
- Updated changelog
- Contributors: Hilario Tome
0.0.1 (2016-10-12)
- Created intial changelog
- Fixed merge
- Change gripper motor joint to just side_gripper_joint
- Fix gripper controller and add controller launchers for follow joint trajectory controllers
- Fixing
- Renamed tor to talos
- Contributors: Hilario Tome, Sam Pfeiffer
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| imu_sensor_controller | |
| force_torque_sensor_controller | |
| joint_trajectory_controller | |
| controller_manager | |
| joint_state_controller | |
| walking_controller | |
| walking_utils | |
| head_action | |
| current_limit_controller |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| talos_bringup | |
| talos_robot |
Launch files
- launch/walk_pose.launch
- launch/walking_controller.launch
- launch/current_limit_controllers.launch
- launch/talos_homing_controller.launch
- launch/position_controllers.launch
-
- robot [default: full_v2]
- enable_unloading_workaround [default: false]
- controllers [default: ]
- launch/bringup_controllers.launch
-
- enable_unloading_workaround [default: false]
- launch/send_joint_commands.launch
-
- subtree
- launch/full_body_position_controllers.launch
-
- robot [default: full_v2]
- controllers [default: ]
- launch/local_joint_control/torso.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/leg_right.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/head.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/gripper_left.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/arm_right.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/wrist_right.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/gripper_right.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/launcher.launch
-
- local_joint_control_type
- local_joint_control_pkg [default: pal_local_joint_control]
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: full_v2]
- open_loop [default: false]
- safety_override [default: false]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/wrist_left.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/leg_left.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/local_joint_control/arm_left.launch
-
- local_joint_control_type
- local_joint_control_pkg
- ns [default: ]
- controller_pkg_name [default: talos_controller_configuration]
- robot [default: ]
- open_loop [default: false]
- safety_override [default: ]
- disable_safety_for_joints [default: ]
- launch/init_offset_controller.launch
- launch/default_controllers.launch
- launch/upper_body_position_controllers.launch
- launch/selective_rosparam_loader.launch
-
- prefix
- robot [default: full_v2]
- launch/bringup_controllers_hardware.launch
Messages
Services
No service files found
Plugins
No plugins found.