├── CMakeLists.txt ├── LICENSE ├── README.md ├── config └── phantomx_control.yaml ├── launch └── phantomx_control.launch ├── package.xml └── phantomx.png /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(phantomx_control) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | This software is graciously provided by HumaRobotics under the Simplified BSD License. 2 | HumaRobotics is a trademark of Generation Robots 3 | 4 | Copyright (c) 2013, Generation Robots 5 | All rights reserved. 6 | 7 | Redistribution and use in source and binary forms, with or without 8 | modification, are permitted provided that the following conditions are met: 9 | 1. Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 2. Redistributions in binary form must reproduce the above copyright notice, 12 | this list of conditions and the following disclaimer in the documentation 13 | and/or other materials provided with the distribution. 14 | 15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 16 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR 18 | ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 19 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 20 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 21 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 22 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 23 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 24 | 25 | The views and conclusions contained in the software and documentation are those 26 | of the authors and should not be interpreted as representing official policies, 27 | either expressed or implied, of the FreeBSD Project. -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ## phantomx_control 2 | 3 | ROS package providing ROS controller description and launch files for the Phantom X hexapod robot 4 | 5 | ![Phantom X model in Gazebo](/phantomx.png?raw=true "Phantom X model in Gazebo") 6 | 7 | ## Install 8 | Just clone in your catkin workspace. Launch with: 9 | 10 | roslaunch phantomx_control phantomx_control.launch 11 | 12 | For gazebo simulation this file is launched automatically by the launchers from phantomx_gazebo. 13 | 14 | ## License 15 | 16 | This software is provided by Génération Robots http://www.generationrobots.com and HumaRobotics http://www.humarobotics.com under the Simplified BSD license 17 | -------------------------------------------------------------------------------- /config/phantomx_control.yaml: -------------------------------------------------------------------------------- 1 | phantomx: 2 | # Publish all joint states ----------------------------------- 3 | joint_state_controller: 4 | type: joint_state_controller/JointStateController 5 | publish_rate: 50 6 | 7 | # Position Controllers --------------------------------------- 8 | 9 | 10 | # HEAD 11 | j_c1_lf_position_controller: 12 | type: effort_controllers/JointPositionController 13 | joint: j_c1_lf 14 | pid: {p: 100.0, i: 0.01, d: 10.0} 15 | 16 | 17 | 18 | j_c1_rf_position_controller: 19 | type: effort_controllers/JointPositionController 20 | joint: j_c1_rf 21 | pid: {p: 100.0, i: 0.01, d: 10.0} 22 | 23 | 24 | 25 | j_c1_lm_position_controller: 26 | type: effort_controllers/JointPositionController 27 | joint: j_c1_lm 28 | pid: {p: 100.0, i: 0.01, d: 10.0} 29 | 30 | 31 | 32 | j_c1_rm_position_controller: 33 | type: effort_controllers/JointPositionController 34 | joint: j_c1_rm 35 | pid: {p: 100.0, i: 0.01, d: 10.0} 36 | 37 | 38 | 39 | j_c1_lr_position_controller: 40 | type: effort_controllers/JointPositionController 41 | joint: j_c1_lr 42 | pid: {p: 100.0, i: 0.01, d: 10.0} 43 | 44 | 45 | 46 | j_c1_rr_position_controller: 47 | type: effort_controllers/JointPositionController 48 | joint: j_c1_rr 49 | pid: {p: 100.0, i: 0.01, d: 10.0} 50 | 51 | 52 | 53 | j_thigh_lf_position_controller: 54 | type: effort_controllers/JointPositionController 55 | joint: j_thigh_lf 56 | pid: {p: 100.0, i: 0.01, d: 10.0} 57 | 58 | 59 | 60 | j_thigh_rf_position_controller: 61 | type: effort_controllers/JointPositionController 62 | joint: j_thigh_rf 63 | pid: {p: 100.0, i: 0.01, d: 10.0} 64 | 65 | 66 | 67 | j_thigh_lm_position_controller: 68 | type: effort_controllers/JointPositionController 69 | joint: j_thigh_lm 70 | pid: {p: 100.0, i: 0.01, d: 10.0} 71 | 72 | 73 | 74 | j_thigh_rm_position_controller: 75 | type: effort_controllers/JointPositionController 76 | joint: j_thigh_rm 77 | pid: {p: 100.0, i: 0.01, d: 10.0} 78 | 79 | 80 | 81 | j_thigh_lr_position_controller: 82 | type: effort_controllers/JointPositionController 83 | joint: j_thigh_lr 84 | pid: {p: 100.0, i: 0.01, d: 10.0} 85 | 86 | 87 | 88 | j_thigh_rr_position_controller: 89 | type: effort_controllers/JointPositionController 90 | joint: j_thigh_rr 91 | pid: {p: 100.0, i: 0.01, d: 10.0} 92 | 93 | 94 | 95 | j_tibia_lf_position_controller: 96 | type: effort_controllers/JointPositionController 97 | joint: j_tibia_lf 98 | pid: {p: 100.0, i: 0.01, d: 10.0} 99 | 100 | 101 | 102 | j_tibia_rf_position_controller: 103 | type: effort_controllers/JointPositionController 104 | joint: j_tibia_rf 105 | pid: {p: 100.0, i: 0.01, d: 10.0} 106 | 107 | 108 | 109 | j_tibia_lm_position_controller: 110 | type: effort_controllers/JointPositionController 111 | joint: j_tibia_lm 112 | pid: {p: 100.0, i: 0.01, d: 10.0} 113 | 114 | 115 | 116 | j_tibia_rm_position_controller: 117 | type: effort_controllers/JointPositionController 118 | joint: j_tibia_rm 119 | pid: {p: 100.0, i: 0.01, d: 10.0} 120 | 121 | 122 | 123 | j_tibia_lr_position_controller: 124 | type: effort_controllers/JointPositionController 125 | joint: j_tibia_lr 126 | pid: {p: 100.0, i: 0.01, d: 10.0} 127 | 128 | 129 | 130 | j_tibia_rr_position_controller: 131 | type: effort_controllers/JointPositionController 132 | joint: j_tibia_rr 133 | pid: {p: 100.0, i: 0.01, d: 10.0} 134 | 135 | 136 | 137 | j_pan_position_controller: 138 | type: effort_controllers/JointPositionController 139 | joint: j_pan 140 | pid: {p: 100.0, i: 0.01, d: 10.0} 141 | 142 | j_tilt_position_controller: 143 | type: effort_controllers/JointPositionController 144 | joint: j_tilt 145 | pid: {p: 100.0, i: 0.01, d: 10.0} 146 | 147 | 148 | # ARMS 149 | 150 | j_shoulder_l_position_controller: 151 | type: effort_controllers/JointPositionController 152 | joint: j_shoulder_l 153 | pid: {p: 100.0, i: 0.01, d: 10.0} 154 | 155 | j_high_arm_l_position_controller: 156 | type: effort_controllers/JointPositionController 157 | joint: j_high_arm_l 158 | pid: {p: 100.0, i: 0.01, d: 10.0} 159 | 160 | j_low_arm_l_position_controller: 161 | type: effort_controllers/JointPositionController 162 | joint: j_low_arm_l 163 | pid: {p: 100.0, i: 0.01, d: 10.0} 164 | 165 | j_wrist_l_position_controller: 166 | type: effort_controllers/JointPositionController 167 | joint: j_wrist_l 168 | pid: {p: 100.0, i: 0.01, d: 10.0} 169 | 170 | j_gripper_l_position_controller: 171 | type: effort_controllers/JointPositionController 172 | joint: j_gripper_l 173 | pid: {p: 100.0, i: 0.01, d: 10.0} 174 | 175 | 176 | -------------------------------------------------------------------------------- /launch/phantomx_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 9 | 10 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | phantomx_control 4 | 1.0.0 5 | The phantomx_control package 6 | 7 | 8 | 9 | 10 | Philippe Capdepuy 11 | 12 | 13 | 14 | 15 | 16 | BSD 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | Philippe Capdepuy 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | 44 | phantomx_description 45 | gazebo_ros 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | -------------------------------------------------------------------------------- /phantomx.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HumaRobotics/phantomx_control/0b924014455eac65435d364b074683c17780b930/phantomx.png --------------------------------------------------------------------------------