remove extra controllers for the back suspension joints

tt-saito · Jul 21, 2022 · 7b92d26 · 7b92d26
1 parent 882a4d0
commit 7b92d26
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Showing 4 changed files with 1 addition and 39 deletions.
diff --git a/mars_rover/config/mars_rover_control.yaml b/mars_rover/config/mars_rover_control.yaml
@@ -80,10 +80,8 @@ wheel_tree_position_controller:
     joints:
       - suspension_arm_F_L_joint
       - suspension_arm_B_L_joint
-      - suspension_arm_B2_L_joint
       - suspension_arm_F_R_joint
       - suspension_arm_B_R_joint
-      - suspension_arm_B2_R_joint
     command_interfaces:
       - effort
     state_interfaces:
@@ -99,10 +97,6 @@ wheel_tree_position_controller:
         p: 4200.0
         i: 10.0
         d: 10.0
-      suspension_arm_B2_L_joint:
-        p: 1500.0
-        i: 10.0
-        d: 10.0
       suspension_arm_F_R_joint:
         p: 2200.0
         i: 10.0
@@ -111,20 +105,12 @@ wheel_tree_position_controller:
         p: 4200.0
         i: 10.0
         d: 10.0
-      suspension_arm_B2_R_joint:
-        p: 1500.0
-        i: 10.0
-        d: 10.0
     enable:
       suspension_arm_F_L_joint:
         status: 1
       suspension_arm_B_L_joint:
         status: 1
-      suspension_arm_B2_L_joint:
-        status: 0
       suspension_arm_F_R_joint:
         status: 1
       suspension_arm_B_R_joint:
         status: 1
-      suspension_arm_B2_R_joint:
-        status: 0
diff --git a/mars_rover/nodes/move_wheel b/mars_rover/nodes/move_wheel
@@ -98,7 +98,7 @@ class MoveWheel(Node):
 
         target_val = Float64MultiArray()
         if sus_val is None:
-            target_val.data = [0.3,-0.1,0.0,0.3,-0.1,0.0]
+            target_val.data = [0.3,-0.1,0.3,-0.1]
         self.suspension_publisher_.publish(target_val)
 
 

diff --git a/mars_rover/urdf/curiosity_mars_rover.gazebo b/mars_rover/urdf/curiosity_mars_rover.gazebo
@@ -100,12 +100,6 @@
           <state_interface name="velocity"/>
           <state_interface name="effort"/>
       </joint>
-      <joint name="suspension_arm_B2_L_joint">
-          <command_interface name="effort"/>
-          <state_interface name="position"/>
-          <state_interface name="velocity"/>
-          <state_interface name="effort"/>
-      </joint>
       <joint name="suspension_arm_F_R_joint">
           <command_interface name="effort"/>
           <state_interface name="position"/>
@@ -118,12 +112,6 @@
           <state_interface name="velocity"/>
           <state_interface name="effort"/>
       </joint>
-      <joint name="suspension_arm_B2_R_joint">
-          <command_interface name="effort"/>
-          <state_interface name="position"/>
-          <state_interface name="velocity"/>
-          <state_interface name="effort"/>
-      </joint>
   </ros2_control>
 
   <gazebo>

diff --git a/mars_rover/urdf/curiosity_mars_rover.xacro.urdf b/mars_rover/urdf/curiosity_mars_rover.xacro.urdf
@@ -103,12 +103,6 @@
       <state_interface name="velocity"/>
       <state_interface name="effort"/>
     </joint>
-    <joint name="suspension_arm_B2_L_joint">
-      <command_interface name="effort"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-      <state_interface name="effort"/>
-    </joint>
     <joint name="suspension_arm_F_R_joint">
       <command_interface name="effort"/>
       <state_interface name="position"/>
@@ -121,12 +115,6 @@
       <state_interface name="velocity"/>
       <state_interface name="effort"/>
     </joint>
-    <joint name="suspension_arm_B2_R_joint">
-      <command_interface name="effort"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-      <state_interface name="effort"/>
-    </joint>
   </ros2_control>
   <gazebo>
     <plugin filename="libign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">