Merge pull request #172 from project-march/fix-PM-72-synchronzing-joint-orders

synchronzing joint orders

Author: Olavhaasie

march_hardware_interface/config/march4/controllers.yaml

@@ -14,32 +14,32 @@ march:
       allow_partial_joints_goal: true
       # When you switch to effort actuationmode, 'position_controllers' must be substituted with 'effort_controllers' and the gains must be added
       joints:
-        - right_hip_fe
+        - left_ankle
+        - left_hip_aa
         - left_hip_fe
-        - right_knee
         - left_knee
         - right_ankle
-        - left_ankle
         - right_hip_aa
-        - left_hip_aa
+        - right_hip_fe
+        - right_knee
 #      gains: # Required because we're controlling an effort interface
-#        right_hip_fe: {p: 80, i: 0, d: 10, i_clamp: 100, publish_state: true, antiwindup: true}
+#        left_ankle: {p: 160, i: 0, d: 6, i_clamp: 100, publish_state: true, antiwindup: true}
+#        left_hip_aa: {p: 290, i: 0, d: 5, i_clamp: 100, publish_state: true, antiwindup: true}
 #        left_hip_fe: {p: 80, i: 0, d: 10, i_clamp: 100, publish_state: true, antiwindup: true}
-#        right_knee: {p: 50, i: 0, d: 10, i_clamp: 100, publish_state: true, antiwindup: true}
 #        left_knee: {p: 50, i: 0, d: 10, i_clamp: 100, publish_state: true, antiwindup: true}
 #        right_ankle: {p: 140, i: 0, d: 5, i_clamp: 100, publish_state: true, antiwindup: true}
-#        left_ankle: {p: 160, i: 0, d: 6, i_clamp: 100, publish_state: true, antiwindup: true}
 #        right_hip_aa: {p: 290, i: 0, d: 5, i_clamp: 100, publish_state: true, antiwindup: true} # TODO(BaCo) tune HAA joints
-#        left_hip_aa: {p: 290, i: 0, d: 5, i_clamp: 100, publish_state: true, antiwindup: true}
+#        right_hip_fe: {p: 80, i: 0, d: 10, i_clamp: 100, publish_state: true, antiwindup: true}
+#        right_knee: {p: 50, i: 0, d: 10, i_clamp: 100, publish_state: true, antiwindup: true}
 
       constraints:
-        right_hip_fe:
+        left_ankle:
           trajectory: 0.305
           goal: 0.305
-        left_hip_fe:
+        left_hip_aa:
           trajectory: 0.305
           goal: 0.305
-        right_knee:
+        left_hip_fe:
           trajectory: 0.305
           goal: 0.305
         left_knee:
@@ -48,12 +48,12 @@ march:
         right_ankle:
           trajectory: 0.305
           goal: 0.305
-        left_ankle:
+        right_hip_aa:
           trajectory: 0.305
           goal: 0.305
-        right_hip_aa:
+        right_hip_fe:
           trajectory: 0.305
           goal: 0.305
-        left_hip_aa:
+        right_knee:
           trajectory: 0.305
           goal: 0.305