From cb3c184e687a17981d7f1b46138b06c394ccd201 Mon Sep 17 00:00:00 2001
From: ipa-nhg <nhg@ipa.fhg.de>
Date: Thu, 4 Jul 2019 17:34:31 +0200
Subject: [PATCH] add (but commented) the pid parameters for the position
 controller

---
 ur_description/urdf/common.gazebo.xacro       |  2 +-
 ur_gazebo/controller/arm_controller_ur10.yaml | 11 +++++++++++
 ur_gazebo/controller/arm_controller_ur3.yaml  | 12 ++++++++++++
 ur_gazebo/controller/arm_controller_ur5.yaml  | 11 +++++++++++
 4 files changed, 35 insertions(+), 1 deletion(-)

diff --git a/ur_description/urdf/common.gazebo.xacro b/ur_description/urdf/common.gazebo.xacro
index 0b2d7989b..a4bc776d9 100644
--- a/ur_description/urdf/common.gazebo.xacro
+++ b/ur_description/urdf/common.gazebo.xacro
@@ -3,8 +3,8 @@
 
   <gazebo>
     <plugin name="ros_control" filename="libgazebo_ros_control.so">
-      <!--robotNamespace>/</robotNamespace-->
       <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
+      <legacyModeNS>true</legacyModeNS>
     </plugin>
 
 <!--
diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml
index fb7b3d4fe..f9e51e7df 100644
--- a/ur_gazebo/controller/arm_controller_ur10.yaml
+++ b/ur_gazebo/controller/arm_controller_ur10.yaml
@@ -29,3 +29,14 @@ joint_group_position_controller:
      - wrist_2_joint
      - wrist_3_joint
 
+#Although Gazebo 7 requires the defition of the pid parameters for a the position controller, this is not working. 
+#Please uncomment the following lines for Gazebo or gazebo_ros_control upgrades
+
+#gazebo_ros_control:
+#  pid_gains:
+#    shoulder_pan_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+#    shoulder_lift_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+#    elbow_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+#    wrist_1_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+#    wrist_2_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+#    wrist_3_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
diff --git a/ur_gazebo/controller/arm_controller_ur3.yaml b/ur_gazebo/controller/arm_controller_ur3.yaml
index fb7b3d4fe..1bef024aa 100644
--- a/ur_gazebo/controller/arm_controller_ur3.yaml
+++ b/ur_gazebo/controller/arm_controller_ur3.yaml
@@ -29,3 +29,15 @@ joint_group_position_controller:
      - wrist_2_joint
      - wrist_3_joint
 
+
+#Although Gazebo 7 requires the defition of the pid parameters for a the position controller, this is not working. 
+#Please uncomment the following lines for Gazebo or gazebo_ros_control upgrades
+
+#gazebo_ros_control:
+#  pid_gains:
+#      shoulder_pan_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
+#      shoulder_lift_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
+#      elbow_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
+#      wrist_1_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
+#      wrist_2_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
+#      wrist_3_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/controller/arm_controller_ur5.yaml
index fb7b3d4fe..14546c443 100644
--- a/ur_gazebo/controller/arm_controller_ur5.yaml
+++ b/ur_gazebo/controller/arm_controller_ur5.yaml
@@ -29,3 +29,14 @@ joint_group_position_controller:
      - wrist_2_joint
      - wrist_3_joint
 
+#Although Gazebo 7 requires the defition of the pid parameters for a the position controller, this is not working. 
+#Please uncomment the following lines for Gazebo or gazebo_ros_control upgrades
+
+#gazebo_ros_control:
+#  pid_gains:
+#    shoulder_pan_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}
+#    shoulder_lift_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}
+#    elbow_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}
+#    wrist_1_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}
+#    wrist_2_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}
+#    wrist_3_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}