28 lines
882 B
YAML
28 lines
882 B
YAML
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controller_manager:
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ros__parameters:
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update_rate: 250
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gripper_action_controller_position:
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type: position_controllers/GripperActionController
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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joint_group_position_controller:
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type: position_controllers/JointGroupPositionController
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gripper_action_controller_position:
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ros__parameters:
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action_monitor_rate: 20.0
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allow_stalling: false
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goal_tolerance: 0.01
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joint: null
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max_effort: 0.0
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stall_timeout: 1.0
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stall_velocity_threshold: 0.001
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joint_state_broadcaster:
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ros__parameters:
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map_interface_to_joint_state.effort: effort
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map_interface_to_joint_state.position: position
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map_interface_to_joint_state.velocity: velocity
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use_local_topics: false
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use_urdf_to_filter: true
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joint_group_position_controller:
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ros__parameters: {}
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