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The ROS control PID parameters to control the panda simulator in Gazebo
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| # panda: #useful if you use a namespace for the robot | |
| # Publish joint states | |
| joint_state_controller: | |
| type: joint_state_controller/JointStateController | |
| publish_rate: 50 | |
| panda_arm_controller: | |
| type: effort_controllers/JointTrajectoryController | |
| joints: | |
| - panda_joint1 | |
| - panda_joint2 | |
| - panda_joint3 | |
| - panda_joint4 | |
| - panda_joint5 | |
| - panda_joint6 | |
| - panda_joint7 | |
| gains: | |
| panda_joint1: { p: 12000, d: 50, i: 0.0, i_clamp: 10000 } | |
| panda_joint2: { p: 30000, d: 100, i: 0.02, i_clamp: 10000 } | |
| panda_joint3: { p: 18000, d: 50, i: 0.01, i_clamp: 1 } | |
| panda_joint4: { p: 18000, d: 70, i: 0.01, i_clamp: 10000 } | |
| panda_joint5: { p: 12000, d: 70, i: 0.01, i_clamp: 1 } | |
| panda_joint6: { p: 7000, d: 50, i: 0.01, i_clamp: 1 } | |
| panda_joint7: { p: 2000, d: 20, i: 0.0, i_clamp: 1 } | |
| constraints: | |
| goal_time: 2.0 | |
| state_publish_rate: 25 | |
| panda_hand_controller: | |
| type: effort_controllers/JointTrajectoryController | |
| joints: | |
| - panda_finger_joint1 | |
| - panda_finger_joint2 | |
| gains: | |
| panda_finger_joint1: { p: 5, d: 3.0, i: 0, i_clamp: 1 } | |
| panda_finger_joint2: { p: 5, d: 1.0, i: 0, i_clamp: 1 } | |
| state_publish_rate: 25 |
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