openarm_ros2/openarm_bimanual_moveit_config/config/ros2_controllers.yaml

# This config file is used by ros2_control
controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    left_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    right_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    left_gripper_controller:
      type: position_controllers/GripperActionController


    right_gripper_controller:
      type: position_controllers/GripperActionController


    left_side_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    right_side_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    upper_body_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

left_arm_controller:
  ros__parameters:
    joints:
      - left_rev1
      - left_rev2
      - left_rev3
      - left_rev4
      - left_rev5
      - left_rev6
      - left_rev7
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity
right_arm_controller:
  ros__parameters:
    joints:
      - right_rev1
      - right_rev2
      - right_rev3
      - right_rev4
      - right_rev5
      - right_rev6
      - right_rev7
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity
left_gripper_controller:
  ros__parameters:
    joint: left_left_pris1
right_gripper_controller:
  ros__parameters:
    joint: right_left_pris1
left_side_controller:
  ros__parameters:
    joints:
      - left_rev1
      - left_rev2
      - left_rev3
      - left_rev4
      - left_rev5
      - left_rev6
      - left_rev7
      - left_left_pris1
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity
right_side_controller:
  ros__parameters:
    joints:
      - right_rev1
      - right_rev2
      - right_rev3
      - right_rev4
      - right_rev5
      - right_rev6
      - right_rev7
      - right_left_pris1
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity
upper_body_controller:
  ros__parameters:
    joints:
      - left_rev1
      - left_rev2
      - left_rev3
      - left_rev4
      - left_rev5
      - left_rev6
      - left_rev7
      - left_left_pris1
      - right_rev1
      - right_rev2
      - right_rev3
      - right_rev4
      - right_rev5
      - right_rev6
      - right_rev7
      - right_left_pris1
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity
Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video 2025-04-10 09:31:15 +00:00			`# This config file is used by ros2_control`
			`controller_manager:`
			`ros__parameters:`
			`update_rate: 100 # Hz`

			`left_arm_controller:`
			`type: joint_trajectory_controller/JointTrajectoryController`


			`right_arm_controller:`
			`type: joint_trajectory_controller/JointTrajectoryController`


Add moveit2 package with dual arm/gripper (#5) * Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality 2025-04-22 09:46:27 +00:00			`left_gripper_controller:`
			`type: position_controllers/GripperActionController`


			`right_gripper_controller:`
			`type: position_controllers/GripperActionController`


			`left_side_controller:`
			`type: joint_trajectory_controller/JointTrajectoryController`


			`right_side_controller:`
			`type: joint_trajectory_controller/JointTrajectoryController`


			`upper_body_controller:`
			`type: joint_trajectory_controller/JointTrajectoryController`


Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video 2025-04-10 09:31:15 +00:00			`joint_state_broadcaster:`
			`type: joint_state_broadcaster/JointStateBroadcaster`

			`left_arm_controller:`
			`ros__parameters:`
			`joints:`
			`- left_rev1`
			`- left_rev2`
			`- left_rev3`
			`- left_rev4`
			`- left_rev5`
			`- left_rev6`
			`- left_rev7`
			`command_interfaces:`
			`- position`
			`- velocity`
			`state_interfaces:`
			`- position`
			`- velocity`
			`right_arm_controller:`
			`ros__parameters:`
			`joints:`
			`- right_rev1`
			`- right_rev2`
			`- right_rev3`
			`- right_rev4`
			`- right_rev5`
			`- right_rev6`
			`- right_rev7`
			`command_interfaces:`
			`- position`
			`- velocity`
Add moveit2 package with dual arm/gripper (#5) * Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality 2025-04-22 09:46:27 +00:00			`state_interfaces:`
			`- position`
			`- velocity`
			`left_gripper_controller:`
			`ros__parameters:`
			`joint: left_left_pris1`
			`right_gripper_controller:`
			`ros__parameters:`
			`joint: right_left_pris1`
			`left_side_controller:`
			`ros__parameters:`
			`joints:`
			`- left_rev1`
			`- left_rev2`
			`- left_rev3`
			`- left_rev4`
			`- left_rev5`
			`- left_rev6`
			`- left_rev7`
			`- left_left_pris1`
			`command_interfaces:`
			`- position`
			`- velocity`
			`state_interfaces:`
			`- position`
			`- velocity`
			`right_side_controller:`
			`ros__parameters:`
			`joints:`
			`- right_rev1`
			`- right_rev2`
			`- right_rev3`
			`- right_rev4`
			`- right_rev5`
			`- right_rev6`
			`- right_rev7`
			`- right_left_pris1`
			`command_interfaces:`
			`- position`
			`- velocity`
			`state_interfaces:`
			`- position`
			`- velocity`
			`upper_body_controller:`
			`ros__parameters:`
			`joints:`
			`- left_rev1`
			`- left_rev2`
			`- left_rev3`
			`- left_rev4`
			`- left_rev5`
			`- left_rev6`
			`- left_rev7`
			`- left_left_pris1`
			`- right_rev1`
			`- right_rev2`
			`- right_rev3`
			`- right_rev4`
			`- right_rev5`
			`- right_rev6`
			`- right_rev7`
			`- right_left_pris1`
			`command_interfaces:`
			`- position`
			`- velocity`
Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video 2025-04-10 09:31:15 +00:00			`state_interfaces:`
			`- position`
			`- velocity`