85 lines
2.2 KiB
YAML
85 lines
2.2 KiB
YAML
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# Copyright 2025 Enactic, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# This config file is used by ros2_control
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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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left_gripper_controller:
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type: position_controllers/GripperActionController
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right_gripper_controller:
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type: position_controllers/GripperActionController
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joint_state_broadcaster:
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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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- openarm_left_joint1
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- openarm_left_joint2
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- openarm_left_joint3
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- openarm_left_joint4
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- openarm_left_joint5
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- openarm_left_joint6
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- openarm_left_joint7
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command_interfaces:
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- position
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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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- openarm_right_joint1
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- openarm_right_joint2
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- openarm_right_joint3
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- openarm_right_joint4
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- openarm_right_joint5
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- openarm_right_joint6
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- openarm_right_joint7
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command_interfaces:
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- position
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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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left_gripper_controller:
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ros__parameters:
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joints:
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- openarm_left_finger_joint1
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command_interfaces:
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- position
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state_interfaces:
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- position
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right_gripper_controller:
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ros__parameters:
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joints:
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- openarm_right_finger_joint1
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command_interfaces:
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- position
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state_interfaces:
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- position
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