rm_calibration_controllers

Overview

Since the zero point of some motors will change after power off, rm_calibration_controller will move at a certain speed after it is started until motors reach the mechanical limit, and motors position will be reset to zero.

Keywords: calibration, ROS, position.

License

The source code is released under a BSD 3-Clause license.

Author: DynamicX
Affiliation: DynamicX
Maintainer: DynamicX

The package has been tested under ROS Indigo, Melodic and Noetic on respectively Ubuntu 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Hardware interface type

• EffortJointInterface Used to send effort command to target joint to make it reach the calibration speed.
• ActuatorExtraInterface Used to obtain the information of the target actuators offset, current position, the state of the whether it is stopped and the state of whether it is calibrated.

Installation

Installation from Packages

To install all packages from the this repository as Debian packages use

sudo apt-get install ros-noetic-calibration-controllers

Or better, use rosdep:

sudo rosdep install --from-paths src

Dependencies

• roscpp
• rm_common
• effort_controllers

ROS API

Service

• is_calibrated (control_msgs/QueryCalibrationState)

When requesting to this server, it will return response about whether target joint has been calibrated.

Parameters

• search_velocity (double)

The joint velocity of calibrating.

• threshold (double)

This is velocity threshold. When the real time velocity of target joint lower than threshold, and last for a while, it can switch CALIBRATED from MOVING.

Complete description

cover_controller:
  type: effort_controllers/JointPositionController
  joint: "cover_joint"
  pid: { p: 15.0, i: 0.0, d: 1.2, i_clamp_max: 0.0, i_clamp_min: 0.0, antiwindup: true, publish_state: true }

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.

Changelog for package rm_calibration_controllers

0.1.10 (2023-03-25)

• Merge pull request #106 from ye-luo-xi-tui/master 0.1.9
• Contributors: ye-luo-xi-tui

0.1.9 (2023-02-21)

• Merge pull request #103 from L-SY/fix_return Fix calibration controller no return true.
• Fix bug.
• Run pre-commit.
• Merge branch \'master\' into balance_standard
• Add engineer trigger ui .
• Merge pull request #96 from L-SY/fix_return Fix joint_calibration_controller
• Delete repetitive set.
• delete useless target_velocity_.
• Merge pull request #97 from ye-luo-xi-tui/master 0.1.8
• eyes is lost.
• Update fix can not return .
• Contributors: lsy, ye-luo-xi-tui, yezi

0.1.8 (2022-11-24)

• Merge branch \'master\' into target_velocity_correction
• Merge pull request #87 from NaHCO3bc/Readme Fix the dependence bug in rm_calibration_controllers.
• Fix the dependence bug in rm_calibration_controllers.
• Merge pull request #85 from ye-luo-xi-tui/master 0.1.7
• Contributors: NaHCO3bc, ye-luo-xi-tui, yezi

0.1.7 (2022-09-10)

• Merge remote-tracking branch \'origin/master\'
• Contributors: qiayuan

0.1.6 (2022-06-16)

• Merge remote-tracking branch \'origin/master\'
• Contributors: qiayuan

0.1.5 (2022-06-10)

• Merge remote-tracking branch \'origin/master\'
• 0.1.4
• Merge branch \'master\' into gimbal_track
• Merge pull request #45 from mlione/master Delete some config files in rm_controllers.
• Delete some config files in rm_controller.
• Merge pull request #46 from ye-luo-xi-tui/master Deprecated imu_filter_controller
• Contributors: QiayuanLiao, YuuinIH, mlione, qiayuan, yezi

0.1.3 (2022-03-28)

• Merge branch \'master\' into forward_feed
• Merge branch \'master\' into standard3
• Merge remote-tracking branch \'origin/master\'
• Contributors: qiayuan, ye-luo-xi-tui, yezi

0.1.2 (2022-01-08)

• Merge branch \'master\' into chassis/fix_filter
• Merge remote-tracking branch \'origin/master\'
• Merge branch \'namespace\' # Conflicts: # rm_chassis_controllers/README.md
• Merge pull request #15 from ye-luo-xi-tui/namespace Change name of namespace:from hardware_interface to rm_control
• Change name of namespace:from hardware_interface to rm_control.
• Merge pull request #7 from kbxkgxjg/patch-1 Add white line behind title on calibration_controller README.md
• Add white line behind title
• Rename motor to actuators
• Merge pull request #6 from kbxkgxjg/master Add doxygen comments on joint_calibration_controller.h
• Modify the meaning of [param req]{.title-ref}
• Fix clang-format error
• Modify the params
• Update the comments of is calibrated()
• Update the comments of starting()
• Update the comments of update()
• Update the comments of init()
• Modify \'current joint state\' to \'current calibration joint state\'
• Modift \'\' to \'@\'
• Modify \"actuator state\" to \"joint state \" and Modify motors to actuators
• Modify format
• Delete white line
• Delete a whitespace
• Add annotation to function
• Use "pragma once" in rm_calibration_controllers headers instead of include guards.
• Merge pull request #2 from kbxkgxjg/master Update README.md on rm_calibration_controllers
• Modify the meaning of [search_velocity]{.title-ref} and [threshold]{.title-ref}
• Revert \"Modify \'is_calibrated_srv\' to \'is_calibrated\'\" This reverts commit b5b06dfe
• Delete a net
• Modify \'is_calibrated_srv\' to \'is_calibrated\'
• Add angular in front of velocity
• fixed grammar error
• Modify the meaning of [is_calibrated_srv_]{.title-ref}
• Modify a wrong hardware interface name
• Add \"Hardware interface type\", modify \"License\" and Delete number
• Modify actuator to motor
• Add a white line in front of "Or better"
• Delete