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updated scout description, still working on scout gazebo sim control

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This commit is contained in:
Ruixiang Du
2020-03-25 23:46:23 +08:00
parent 9c26ce9c34
commit 38510eb257
17 changed files with 3900 additions and 43 deletions
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37
scout_gazebo_sim/config/scout_v2_control.yaml Normal file
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# Publish all joint states -----------------------------------
scout_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Joint velocity controllers ---------------------------------
scout_motor_fr_controller:
type: velocity_controllers/JointVelocityController
joint: front_right_wheel
pid:
p: 5.0
i: 20.0
i_clamp: 100.0
scout_motor_fl_controller:
type: velocity_controllers/JointVelocityController
joint: front_left_wheel
pid:
p: 5.0
i: 20.0
i_clamp: 100.0
scout_motor_rl_controller:
type: velocity_controllers/JointVelocityController
joint: rear_left_wheel
pid:
p: 5.0
i: 20.0
i_clamp: 100.0
scout_motor_rr_controller:
type: velocity_controllers/JointVelocityController
joint: rear_right_wheel
pid:
p: 5.0
i: 20.0
i_clamp: 100.0