parameters.yaml

admittance_controller:
  scientific_notation_num:
    type: double
    default_value: 0.00000000001
    description: "Test scientific notation"
  interpolation_mode:
    type: string
    default_value: "spline"
    description: "specifies which algorithm to use for interpolation."
    validation:
      one_of<>: [ [ "spline", "linear" ] ]
      "custom_validators::no_args_validator": null
  subset_selection:
    type: string_array
    default_value: ["A", "B"]
    description: "test subset of validator."
    validation:
      subset_of<>: [ [ "A", "B", "C"] ]
  joints:
    type: string_array
    default_value: ["joint1", "joint2", "joint3"]
    description: "specifies which joints will be used by the controller"
  dof_names:
    type: string_array
    default_value: ["x", "y", "rz"]
    description: "specifies which joints will be used by the controller"
    additional_constraints: "Any string can be here. For example, you might want to embed JSON schema"

  __map_joints:
    __map_dof_names:
      weight:
        type: double
        default_value: 1.0
        description: "map parameter without struct name"
        validation:
          gt<>: [0.0]

      limit:
        type: double_array
        description: "specifies limit for x, y and z axis"
        default_value: [0.0, 0.0, 0.0]
        validation:
          fixed_size<>: 3
          lower_element_bounds<>: -10.0
          upper_element_bounds<>: 10.0

  nested_dynamic:
    __map_joints:
      __map_dof_names:
        nested:
          type: double
          default_value: 1.0
          description: "test nested map params"
          validation:
            gt_eq<>: [ 0.0001 ]
        __map_joints:
          __map_dof_names:
            nested_deep:
              type: double
              default_value: 1.0
              description: "test deep nested map params"
              validation:
                gt_eq<>: [ 0.0001 ]
  pid:
    rate:
      type: double
      default_value: 0.005
      description: "update loop period in seconds"
    __map_joints:
      p:
        type: double
        default_value: 1.0
        description: "proportional gain term"
        validation:
          gt_eq<>: [ 0.0001 ]
      i:
        type: double
        default_value: 1.0
        description: "integral gain term"
      d:
        type: double
        default_value: 1.0
        description: "derivative gain term"

  gains:
    __map_dof_names:
      k:
        type: double
        default_value: 2.0
        description: "general gain"

  nested_map:
    entries:
      type: string_array
      default_value: ["entry1", "entry2"]
      description: "Keys for nested mapped parameters"
    __map_entries:
      value:
        type: double
        default_value: 1.0
        description: "A value in the nested map with sibling keys"

  fixed_string:
    type: string_fixed_25
    default_value: "string_value"
    description: "test code generation for fixed sized string"
  fixed_array:
    type: double_array_fixed_10
    default_value: [1.0, 2.3, 4.0 ,5.4, 3.3]
    description: "test code generation for fixed sized array"
  fixed_string_no_default:
    type: string_fixed_25
    description: "test code generation for fixed sized string with no default"
  command_interfaces:
      type: string_array
      description: "specifies which command interfaces to claim"
      read_only: true

  state_interfaces:
      type: string_array
      description: "specifies which state interfaces to claim"
      read_only: true

  chainable_command_interfaces:
      type: string_array
      description: "specifies which chainable interfaces to claim"
      read_only: true

  kinematics:
    plugin_name:
      type: string
      description: "specifies which kinematics plugin to load"
    plugin_package:
      type: string
      description: "specifies the package to load the kinematics plugin from"
    base:
      type: string
      description: "specifies the base link of the robot description used by the kinematics plugin"
    tip:
      type: string
      description: "specifies the end effector link of the robot description used by the kinematics plugin"
    alpha:
      type: double
      default_value: 0.0005
      description: "specifies the damping coefficient for the Jacobian pseudo inverse"
    group_name:
      type: string
      description: "specifies the group name for planning with Moveit"

  ft_sensor:
    name:
      type: string
      description: "name of the force torque sensor in the robot description"
    frame:
      id:
        type: string
        description: "frame of the force torque sensor"
      external:
        type: bool
        default_value: false
        description: "specifies if the force torque sensor is contained in the kinematics chain from the base to the tip"
    filter_coefficient:
      type: double
      default_value: 0.005
      description: "specifies the coefficient for the sensor's exponential filter"

  control:
    frame:
      id:
        type: string
        description: "control frame used for admittance control"
      external:
        type: bool
        default_value: false
        description: "specifies if the control frame is contained in the kinematics chain from the base to the tip"

  fixed_world_frame: # Gravity points down (neg. Z) in this frame (Usually: world or base_link)
    frame:
      id:
        type: string
        description: "world frame, gravity points down (neg. Z) in this frame"
      external:
        type: bool
        default_value: false
        description: "specifies if the world frame is contained in the kinematics chain from the base to the tip"

  gravity_compensation:
    frame:
      id:
        type: string
        description: "frame which center of gravity (CoG) is defined in"
      external:
        type: bool
        default_value: false
        description: "specifies if the center of gravity frame is contained in the kinematics chain from the base to the tip"
    CoG: # specifies the center of gravity of the end effector
      pos:
        type: double_array
        description: "position of the center of gravity (CoG) in its frame"
        validation:
          fixed_size<>: 3
      force:
        type: double
        default_value: .NAN
        description: "weight of the end effector, e.g mass * 9.81"

  admittance:
    selected_axes:
        type: bool_array
        description: "specifies if the axes x, y, z, rx, ry, and rz are enabled"
        validation:
          fixed_size<>: 6

    # Having ".0" at the end is MUST, otherwise there is a loading error
    # F = M*a + D*v + S*(x - x_d)
    mass:
      type: double_array
      description: "specifies mass values for x, y, z, rx, ry, and rz used in the admittance calculation"
      validation:
        fixed_size<>: 6
        element_bounds<>: [ 0.0001, 1000000.0 ]

    damping_ratio:
      type: double_array
      description: "specifies damping ratio values for x, y, z, rx, ry, and rz used in the admittance calculation.
      The values are calculated as damping can be used instead: zeta = D / (2 * sqrt( M * S ))"
      validation:
        fixed_size<>: 6
        "custom_validators::validate_double_array_custom_func": [ 20.3, 5.0 ]
        element_bounds<>: [ 0.1, 10.0 ]

    stiffness:
      type: double_array
      description: "specifies stiffness values for x, y, z, rx, ry, and rz used in the admittance calculation"
      validation:
        element_bounds: [ 0.0001, 100000.0 ]

  acceleration_limits:
    type: double_array
    description: "specifies maximum acceleration limits for x, y and z axis"
    default_value: [0.0, 0.0, 0.0]
    validation:
      fixed_size<>: 3
      lower_element_bounds<>: -10.0
      upper_element_bounds<>: 10.0

  # general settings
  enable_parameter_update_without_reactivation:
    type: bool
    default_value: true
    description: "if enabled, read_only parameters will be dynamically updated in the control loop"
  use_feedforward_commanded_input:
    type: bool
    default_value: false
    description: "if enabled, the velocity commanded to the admittance controller is added to its calculated admittance velocity"
  lt_eq_fifteen:
    type: int
    default_value: 1
    description: "should be a number less than or equal to 15"
    validation:
      lt_eq<>: [ 15 ]
  gt_fifteen:
    type: int
    default_value: 16
    description: "should be a number greater than 15"
    validation:
      gt<>: [ 15 ]
  gt_fifteen_lt_eq_twenty:
    type: int
    default_value: 20
    description: "should be a number greater than 15 and less than or equal to 20"
    validation:
      gt<>: [ 15 ]
      lt_eq<>: [ 20 ]
  gt_fifteen_lt_twenty:
    type: int
    default_value: 16
    description: "should be a number greater than 15 and less than 20"
    validation:
      gt<>: [ 15 ]
      lt<>: [ 20 ]
  one_number:
    type: int
    default_value: 14540
    read_only: true
    validation:
      bounds<>: [ 1024, 65535 ]
  three_numbers:
    type: int_array
    default_value: [3,4,5]
    read_only: true
  three_numbers_of_five:
    type: int_array_fixed_5
    default_value: [3,3,3]
    read_only: true
  hover_override:
    type: int
    default_value: 1
    description: "Override hover action:\n0: Hover\n1: Push\n2: Pull\n-1: Do not override"
    validation:
      one_of<>: [ [ 0, 1, 2, -1 ] ]
  angle_wraparound:
    type: bool
    default_value: false
    description: 'For joints that wrap around (without end stop, ie. are continuous)
          where the shortest rotation to the target position is the desired motion.
          If true, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`.
          Otherwise  :math:`e = s_d - s` is used, with the desired position :math:`s_d` and the measured
          position :math:`s` from the state interface.'
  open_loop_control:
    type: bool
    default_value: false
    description: "Use controller in open-loop control mode
        \n\n
        * The controller ignores the states provided by hardware interface but using last commands as states for starting the trajectory interpolation.\n
        * It deactivates the feedback control, see the ``gains`` structure.
        \n\n
        This is useful if hardware states are not following commands, i.e., an offset between those (typical for hydraulic manipulators).
        \n\n
        If this flag is set, the controller tries to read the values from the command interfaces on activation.
        If they have real numeric values, those will be used instead of state interfaces.
        Therefore it is important set command interfaces to NaN (i.e., ``std::numeric_limits<double>::quiet_NaN()``) or state values when the hardware is started.\n"
    read_only: true