-
launch gazebo
- note that the one from the pr2_gazebo package does not work for this setup, use the setup from pr2_stanford_wbc instead
roscd pr2_stanford_wbc && roslaunch launch/pr2_gazebo.launch
-
launch dynamics identification controller
roscd dynamics_identification && roslaunch di.launch
-
echo dynamics identification data on console
rostopic echo /di_controller/data
-
send a command to dynamics identification controller
- note that the elbow flex joint behaves "weirdly" in Gazebo, hopefully it works better on the robot
rostopic pub -1 -- /di_controller/start dynamics_identification/Start l_shoulder_pan_joint -0.2 0.5 5 61
-
start segmenting the data published by the di_controller
./bin/di_segmentation 30
-
plot it
rxplot /di_segmentation/segment/measured_position[0]:estimated_position[0] /di_segmentation/segment/measured_velocity[0]:estimated_velocity[0] /di_segmentation/segment/estimated_acceleration[0] /di_segmentation/segment/inertia[0]
helloxss / pr2_dynamics_identification Goto Github PK
View Code? Open in Web Editor NEWThis project forked from poftwaresatent/pr2_dynamics_identification
(old) PR2 Dynamics Identification Toolbox. Mostly based on gross simplifying assumptions, this set of tools should allow us to see whether we at least got the orders of magnitude right in the various parameters of the rigid dynamics model. Masses, centers of masses, and moments of inertia are the model parameters under consideration. Originally hosted on gitorious.org as dynamics_identification (without the pr2_ prefix), until they got bought.