48 lines
976 B
YAML
48 lines
976 B
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
|
||
|
|
|
||
|
|
|
||
|
|
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
|