Tiago_arm_effort_controller

This project consists of a ROS plugin to deploy on a TIAGo (from pal-robotics) in order to control its arm in Pose and Effort (following the Dual Control Law described in "Modeling, Identification and Control of Robots, Ed. by W Khalil and E Dombre) using a force controller.

Bellow, you will find the basic steps to work with this plugin. For setting this package up and for more informations refer to the wiki !

💡 For all commands below, the name of the catkin workspace is tiago_ws and the name of the robot tiago-155c. Adjust to your needs.

in Simulation

⚠️ The simulation is not accurate !

Terminal 1️⃣:

cd ~/tiago_ws
catkin build
source devel/setup.bash

roslaunch tiago_gazebo tiago_gazebo.launch robot:=steel

Terminal 2️⃣:

cd ~/tiago_ws
source devel/setup.bash

rosservice call /controller_manager/switch_controller "start_controllers:
- ''
stop_controllers:
- 'arm_controller'
strictness: 0" 

roslaunch tiago_arm_effort_controller tiago_arm_effort_controller.launch robot:=tiago end_effector:=pal-gripper simulation:=true

on the TIAGo

💻 pal@development:

cd ~/tiago_ws
catkin build
rosrun pal_deploy deploy.py tiago-155c

🤖 pal@tiago-155c:

💡 to connect to the TIAGo's terminal:

ssh pal@tiago-155c

pal_restart_deployer

rosservice call /controller_manager/switch_controller "start_controllers:
- ''
stop_controllers:
- 'arm_controller'
strictness: 0" 

roslaunch tiago_arm_effort_controller tiago_arm_effort_controller.launch robot:=tiago end_effector:=pal-gripper