1a1084c627
* Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality
133 lines
2.6 KiB
YAML
133 lines
2.6 KiB
YAML
# 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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left_side_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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right_side_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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upper_body_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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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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- 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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state_interfaces:
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- position
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- velocity
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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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state_interfaces:
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- position
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- velocity
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left_gripper_controller:
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ros__parameters:
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joint: left_left_pris1
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right_gripper_controller:
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ros__parameters:
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joint: right_left_pris1
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left_side_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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- left_left_pris1
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command_interfaces:
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- position
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- velocity
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state_interfaces:
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- position
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- velocity
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right_side_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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- right_left_pris1
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command_interfaces:
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- position
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- velocity
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state_interfaces:
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- position
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- velocity
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upper_body_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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- left_left_pris1
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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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- right_left_pris1
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command_interfaces:
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- position
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- velocity
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state_interfaces:
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- position
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- velocity |