18 lines
560 B
YAML
18 lines
560 B
YAML
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move_group_name: right_arm
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group_name: right_arm
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command_in_type: unitless
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enable_servo: true
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scale:
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linear: 0.3
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angular: 0.3
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publish_period: 0.01
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command_out_type: trajectory_msgs/JointTrajectory
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# Use the namespaced trajectory topic matching the controllers loaded by the bringup
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trajectory_out_topic: right_joint_trajectory_controller/joint_trajectory
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planning_frame: openarm_body_link0
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ee_frame_name: openarm_right_link7
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robot_link_command_frame: openarm_right_link7
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incoming_command_timeout: 0.1
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num_outgoing_halt_msgs_to_publish: 4
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use_gazebo: false
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