openarm_ros2/openarm_moveit_config/config/moveit_controllers.yaml

# MoveIt uses this configuration for controller management

moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:
  controller_names:
    - openarm_arm_controller
    - gripper_controller

  openarm_arm_controller:
    type: FollowJointTrajectory
    joints:
      - rev1
      - rev2
      - rev3
      - rev4
      - rev5
      - rev6
      - rev7
    action_ns: follow_joint_trajectory
    default: true
  gripper_controller:
    type: GripperCommand
    joints:
      - left_pris1
    action_ns: gripper_cmd
    default: true
Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00			`# MoveIt uses this configuration for controller management`

			`moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager`

			`moveit_simple_controller_manager:`
			`controller_names:`
			`- openarm_arm_controller`
			`- gripper_controller`

			`openarm_arm_controller:`
			`type: FollowJointTrajectory`
			`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_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			`action_ns: follow_joint_trajectory`
			`default: true`
Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00			`gripper_controller:`
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			`type: GripperCommand`
Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00			`joints:`
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			`- left_pris1`
			`action_ns: gripper_cmd`
Add openarm_grip_description and openarm_moveit_config 2025-02-07 09:22:54 +00:00			`default: true`