urdf/ros2_control: add control gain config (#38)

To make gain configurable.

config/arm/v10/control_gains.yaml

@@ -0,0 +1,41 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+joint1:
+  kp: 70.0
+  kd: 2.75
+
+joint2:
+  kp: 70.0
+  kd: 2.5
+
+joint3:
+  kp: 70.0
+  kd: 2.0
+
+joint4:
+  kp: 60.0
+  kd: 2.0
+
+joint5:
+  kp: 10.0
+  kd: 0.7
+
+joint6:
+  kp: 10.0
+  kd: 0.6
+
+joint7:
+  kp: 10.0
+  kd: 0.5

urdf/robot/openarm_robot.xacro

@@ -3,6 +3,7 @@
     <xacro:macro name="openarm_robot"
     params="arm_type
             joint_limits
+            control_gains
             kinematics
             kinematics_link
             kinematics_offset
@@ -102,6 +103,7 @@
         <xacro:if value="${ros2_control}">
             <xacro:openarm_bimanual_ros2_control
             arm_type="${arm_type}"
+            control_gains="${control_gains}"
             left_can_interface="${left_can_interface}"
             right_can_interface="${right_can_interface}"
             use_fake_hardware="${use_fake_hardware}"
@@ -160,6 +162,7 @@
 
         <xacro:openarm_arm_ros2_control
             arm_type="${arm_type}"
+            control_gains="${control_gains}"
             arm_prefix="${arm_prefix_modified}"
             can_interface="${can_interface}"
             use_fake_hardware="${use_fake_hardware}"

urdf/robot/v10.urdf.xacro

@@ -52,7 +52,8 @@
   <xacro:openarm_robot
   arm_type="v10"
   body_type="v10"
-  joint_limits="${xacro.load_yaml('$(find openarm_description)/config//arm/v10/joint_limits.yaml')}"
+  joint_limits="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/joint_limits.yaml')}"
+  control_gains="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/control_gains.yaml')}"
   inertials="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/inertials.yaml')}"
   kinematics="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/kinematics.yaml')}"
   kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/kinematics_link.yaml')}"

urdf/ros2_control/openarm.bimanual.ros2_control.xacro

@@ -3,6 +3,7 @@
 
 <xacro:macro name="openarm_bimanual_ros2_control"
          params="arm_type
+             control_gains
              left_can_interface:=^|can1
              right_can_interface:=^|can0
              use_fake_hardware:=^|false
@@ -27,6 +28,20 @@
             <param name="arm_prefix">${left_arm_prefix}</param>
             <param name="hand">${hand}</param>
             <param name="can_fd">${can_fd}</param>
+            <param name="kp1">${control_gains['joint1']['kp']}</param>
+            <param name="kp2">${control_gains['joint2']['kp']}</param>
+            <param name="kp3">${control_gains['joint3']['kp']}</param>
+            <param name="kp4">${control_gains['joint4']['kp']}</param>
+            <param name="kp5">${control_gains['joint5']['kp']}</param>
+            <param name="kp6">${control_gains['joint6']['kp']}</param>
+            <param name="kp7">${control_gains['joint7']['kp']}</param>
+            <param name="kd1">${control_gains['joint1']['kd']}</param>
+            <param name="kd2">${control_gains['joint2']['kd']}</param>
+            <param name="kd3">${control_gains['joint3']['kd']}</param>
+            <param name="kd4">${control_gains['joint4']['kd']}</param>
+            <param name="kd5">${control_gains['joint5']['kd']}</param>
+            <param name="kd6">${control_gains['joint6']['kd']}</param>
+            <param name="kd7">${control_gains['joint7']['kd']}</param>
           </xacro:unless>
         </hardware>
 
@@ -78,6 +93,20 @@
             <param name="arm_prefix">${right_arm_prefix}</param>
             <param name="hand">${hand}</param>
             <param name="can_fd">${can_fd}</param>
+            <param name="kp1">${control_gains['joint1']['kp']}</param>
+            <param name="kp2">${control_gains['joint2']['kp']}</param>
+            <param name="kp3">${control_gains['joint3']['kp']}</param>
+            <param name="kp4">${control_gains['joint4']['kp']}</param>
+            <param name="kp5">${control_gains['joint5']['kp']}</param>
+            <param name="kp6">${control_gains['joint6']['kp']}</param>
+            <param name="kp7">${control_gains['joint7']['kp']}</param>
+            <param name="kd1">${control_gains['joint1']['kd']}</param>
+            <param name="kd2">${control_gains['joint2']['kd']}</param>
+            <param name="kd3">${control_gains['joint3']['kd']}</param>
+            <param name="kd4">${control_gains['joint4']['kd']}</param>
+            <param name="kd5">${control_gains['joint5']['kd']}</param>
+            <param name="kd6">${control_gains['joint6']['kd']}</param>
+            <param name="kd7">${control_gains['joint7']['kd']}</param>
           </xacro:unless>
         </hardware>
 

urdf/ros2_control/openarm.ros2_control.xacro

@@ -3,6 +3,7 @@
 
 <xacro:macro name="openarm_arm_ros2_control"
          params="arm_type
+             control_gains
              can_interface
              use_fake_hardware:=^|false
              fake_sensor_commands:=^|false
@@ -27,6 +28,20 @@
             <param name="arm_prefix">${arm_prefix}</param>
             <param name="hand">${hand}</param>
             <param name="can_fd">${can_fd}</param>
+            <param name="kp1">${control_gains['joint1']['kp']}</param>
+            <param name="kp2">${control_gains['joint2']['kp']}</param>
+            <param name="kp3">${control_gains['joint3']['kp']}</param>
+            <param name="kp4">${control_gains['joint4']['kp']}</param>
+            <param name="kp5">${control_gains['joint5']['kp']}</param>
+            <param name="kp6">${control_gains['joint6']['kp']}</param>
+            <param name="kp7">${control_gains['joint7']['kp']}</param>
+            <param name="kd1">${control_gains['joint1']['kd']}</param>
+            <param name="kd2">${control_gains['joint2']['kd']}</param>
+            <param name="kd3">${control_gains['joint3']['kd']}</param>
+            <param name="kd4">${control_gains['joint4']['kd']}</param>
+            <param name="kd5">${control_gains['joint5']['kd']}</param>
+            <param name="kd6">${control_gains['joint6']['kd']}</param>
+            <param name="kd7">${control_gains['joint7']['kd']}</param>
           </xacro:if>
         </hardware>