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
48 lines
1.0 KiB
YAML
48 lines
1.0 KiB
YAML
controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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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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# 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_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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# - 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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# state_interfaces:
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# - position
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# - velocity
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# - effort |