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Add parsing of control gains for hand #51

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Merged
kou merged 2 commits into from
Apr 29, 2026
+16 −0
Merged

Add parsing of control gains for hand #51

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38db886
added parsing of control gains for hand
TJMolnar Apr 17, 2026
325b175
changed kph/kdh to kp_hand/kd_hand for clarity
TJMolnar Apr 23, 2026
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4 changes: 4 additions & 0 deletions config/arm/v10/control_gains.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -39,3 +39,7 @@ joint6:
joint7:
kp: 10.0
kd: 0.5

hand:
kp: 5.0
kd: 0.1
8 changes: 8 additions & 0 deletions urdf/ros2_control/openarm.bimanual.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,10 @@
<param name="kd5">${control_gains['joint5']['kd']}</param>
<param name="kd6">${control_gains['joint6']['kd']}</param>
<param name="kd7">${control_gains['joint7']['kd']}</param>
<xacro:if value="${hand}">
<param name="kp_hand">${control_gains['hand']['kp']}</param>
<param name="kd_hand">${control_gains['hand']['kd']}</param>
</xacro:if>
</xacro:unless>
</hardware>

Expand Down Expand Up @@ -107,6 +111,10 @@
<param name="kd5">${control_gains['joint5']['kd']}</param>
<param name="kd6">${control_gains['joint6']['kd']}</param>
<param name="kd7">${control_gains['joint7']['kd']}</param>
<xacro:if value="${hand}">
<param name="kp_hand">${control_gains['hand']['kp']}</param>
<param name="kd_hand">${control_gains['hand']['kd']}</param>
</xacro:if>
</xacro:unless>
</hardware>

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4 changes: 4 additions & 0 deletions urdf/ros2_control/openarm.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,10 @@
<param name="kd5">${control_gains['joint5']['kd']}</param>
<param name="kd6">${control_gains['joint6']['kd']}</param>
<param name="kd7">${control_gains['joint7']['kd']}</param>
<xacro:if value="${hand}">
<param name="kp_hand">${control_gains['hand']['kp']}</param>
<param name="kd_hand">${control_gains['hand']['kd']}</param>
</xacro:if>
</xacro:if>
</hardware>

Expand Down