19 lines
700 B
YAML
19 lines
700 B
YAML
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move_group_name: left_arm
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group_name: left_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: 1.0
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angular: 1.0
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publish_period: 0.01
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command_out_type: trajectory_msgs/JointTrajectory
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# Ensure this matches the controller name loaded by the controller_manager
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# The controllers file in openarm_bringup defines "left_joint_trajectory_controller"
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trajectory_out_topic: /left_joint_trajectory_controller/joint_trajectory
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planning_frame: openarm_body_link0
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ee_frame_name: openarm_left_link7
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robot_link_command_frame: openarm_left_link7
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command_out_topic: /left_joint_trajectory_controller/joint_trajectory
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incoming_command_timeout: 1.0
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num_outgoing_halt_msgs_to_publish: 4
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use_gazebo: false
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