50 lines
986 B
YAML
50 lines
986 B
YAML
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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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left_arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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right_arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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joint_state_broad:
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type: joint_state_broadcaster/JointStateBroadcaster
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left_arm_controller:
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ros__parameters:
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joints:
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- left_rev1
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- left_rev2
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- left_rev3
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- left_rev4
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- left_rev5
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- left_rev6
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- left_rev7
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command_interfaces:
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- position
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- velocity
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- effort
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state_interfaces:
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- position
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- velocity
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- effort
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right_arm_controller:
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ros__parameters:
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joints:
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- right_rev1
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- right_rev2
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- right_rev3
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- right_rev4
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- right_rev5
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- right_rev6
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- right_rev7
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command_interfaces:
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- position
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- velocity
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- effort
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state_interfaces:
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- position
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- velocity
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- effort
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