Update iiwa_controllers.yaml

config/cartesian_space_example/iiwa_controllers.yaml

@@ -1,44 +1,78 @@
 controller_manager:
     ros__parameters:
-        update_rate: 1000 # Hz
+        # Update rate in Hz. This is the update rate of the controller manager. However, if you don' t configure the update rate for any of the 
+        # controllers, every controller will run at this rate
+        update_rate: 1000 
+        # Type configuration for the joint state broadcaster
         joint_state_broadcaster:
           type: joint_state_broadcaster/JointStateBroadcaster
+        # Type configuration for the whole body controller
         whole_body_controller:
           type: wbc_ros/WholeBodyController
+        # Type configuration for the Cartesian position controller
         cartesian_position_controller:
           type: wbc_ros/CartesianPositionController
 
 whole_body_controller:
     ros__parameters:
+        # Control mode of the wbc. Can be one of [velocity,acceleration].
         control_mode: velocity
+        # Command interfaces to claim from hardware. Can be one of [position,velocity,effort]
         command_interfaces: ["position"]
+        # Names of the tasks to be configured in task configuration. Each task will be a summand in the QP solver's cost function.
         task_names: ["ee_pose"]
+        # The joint weights control the contribution of each individual joint to the solution. Values have to be within [0,1].
+        # A zero means here that the joint is not used at all. Size has to be same as number of robot joints.
         joint_weights: [1.0,1.0,1.0,1.0,1.0,1.0,1.0]
         robot_model:
+            # Absolute path to plain URDF file of the robot
             file: install/wbc_ros/share/wbc_ros/models/urdf/iiwa.urdf
+            # Robot model type. Must be the exact name of one of the registered robot model plugins. See src/robot_models for all available plugins. Default is rbdl
             type: rbdl
         tasks:
             ee_pose:
+                # Task type, can be one of 'jnt' (joint space task), 'cart' (Cartesian task) or 'com' (Center of Mass task).
                 type: cart
+                # Priority of this task. 0 corresponds to the highest priority. Prioritization is only supported by the hls solver.
                 priority: 0
+                # Only Cartesian tasks:  Root frame of the kinematic chain associated with this task. Has to be the name of a valid link in the robot model.
+                # Only robot_model.type=kdl supports root frames, which are not equal to the root of the URDF tree.
                 root: world
+                # Only Cartesian tasks: Tip frame of the kinematic chain associated with this task. Has to be the name of a valid link in the robot model.
                 tip: tool0
+                # Only Cartesian tasks: Reference frame of the task input (frame wrt which the input is expressed).
+                # This has to be the name of a valid link in robot model. If ref_frame != root the input will be transformed to the root frame.
                 ref_frame: world
+                # Initial weights for this task. Size has to be same as number of task variables, e.g. number of joint names in joint space tasks.
+                # and 6 in case of a Cartesian task. All entries have to be >= 0.  Can be used to balance contributions of the task variables.
+                # A value of 0 means that the reference of the corresponding task variable will be ignored while computing the solution.
                 weights: [1.0,1.0,1.0,1.0,1.0,1.0]
+                # Initial activation for this task. Has to be within 0 and 1. Can be used to enable(1)/disable(0) the whole task,
+                # or to apply a smooth activation function.
                 activation: 1.0
         solver:
+            # QP Solver type. Must be the exact name of one of the registered QP solver plugins. See src/solvers for all available plugins. Default is qpoases
             type: qpoases
         scene:
+            # Scene type. Must be the exact name of one of the registered scene plugins. See src/scenes for all available plugins.
             type: velocity_qp
         integrate: true
 
 cartesian_position_controller:
     ros__parameters:
+        # Control mode of the wbc. Can be one of [velocity,acceleration].
         control_mode: velocity
+        # Name of the WBC task this controller is assigned to.
         task_name: ee_pose
+        # Node name of the WBC controller.
         wbc_name: whole_body_controller
+        # P-Gain of the controller, size has to be 6.
         p_gain: [5.0,5.0,5.0,5.0,5.0,5.0]
+        # D-Gain of the controller, size has to be 6. In case of velcity control mode, this is the feed forward gain
         d_gain: [0.0,0.0,0.0,0.0,0.0,0.0]
+        # Feed forward gain of the controller, size has to be 6.
         ff_gain: [0.0,0.0,0.0,0.0,0.0,0.0]
+        # Controller output saturation per element. Size has to be 6.
         max_control_output: [10.0,10.0,10.0,10.0,10.0,10.0]
+        # Dead zone for the position error per element. Size has to be 6.
         dead_zone: [0.0,0.0,0.0,0.0,0.0,0.0]