openarm_ros2/openarm_moveit_config/config/ros2_controllers.yaml

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

    gripper_controller:
      type: position_controllers/GripperActionController


    openarm_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

gripper_controller:
  ros__parameters:
    joint: left_pris1
openarm_arm_controller:
  ros__parameters:
    joints:
      - rev1
      - rev2
      - rev3
      - rev4
      - rev5
      - rev6
      - rev7
    command_interfaces:
      - position
      - velocity
      - effort
    state_interfaces:
      - position
      - velocity
      - effort
    allow_nonzero_velocity_at_trajectory_end: false
Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00			`# This config file is used by ros2_control`
			`controller_manager:`
			`ros__parameters:`
			`update_rate: 100 # Hz`

			`gripper_controller:`
			`type: position_controllers/GripperActionController`


Implement openarm ros2_control support with openarm_hardware and openarm_bringup (#2) - openarm_bringup: ros2_control bringup - openarm_hardware: hardware interface for ros2_control 2025-03-28 09:05:38 +00:00			`openarm_arm_controller:`
			`type: joint_trajectory_controller/JointTrajectoryController`


Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00			`joint_state_broadcaster:`
			`type: joint_state_broadcaster/JointStateBroadcaster`

Implement openarm ros2_control support with openarm_hardware and openarm_bringup (#2) - openarm_bringup: ros2_control bringup - openarm_hardware: hardware interface for ros2_control 2025-03-28 09:05:38 +00:00			`gripper_controller:`
			`ros__parameters:`
			`joint: left_pris1`
Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00			`openarm_arm_controller:`
			`ros__parameters:`
			`joints:`
			`- rev1`
			`- rev2`
			`- rev3`
			`- rev4`
			`- rev5`
			`- rev6`
Implement openarm ros2_control support with openarm_hardware and openarm_bringup (#2) - openarm_bringup: ros2_control bringup - openarm_hardware: hardware interface for ros2_control 2025-03-28 09:05:38 +00:00			`- rev7`
Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00			`command_interfaces:`
			`- position`
			`- velocity`
Implement openarm ros2_control support with openarm_hardware and openarm_bringup (#2) - openarm_bringup: ros2_control bringup - openarm_hardware: hardware interface for ros2_control 2025-03-28 09:05:38 +00:00			`- effort`
Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00			`state_interfaces:`
			`- position`
			`- velocity`
Implement openarm ros2_control support with openarm_hardware and openarm_bringup (#2) - openarm_bringup: ros2_control bringup - openarm_hardware: hardware interface for ros2_control 2025-03-28 09:05:38 +00:00			`- effort`
			`allow_nonzero_velocity_at_trajectory_end: false`