67a60a23ba
This PR is made for new release and do not work with current v0.3 robot descriptions. Use for the ros2 control for quick arm control. Launch files spawn: - Robot state publisher - Controller manager with ros2_control - Joint state broadcaster - Robot controller (joint trajectory or forward position) - Gripper controller - RViz2 visualization --------- Co-authored-by: Thomason Zhou <t95zhou@uwaterloo.ca>
99 lines
2.5 KiB
YAML
99 lines
2.5 KiB
YAML
# Copyright 2025 Enactic, Inc.
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# Copyright 2024 Stogl Robotics Consulting UG (haftungsbeschränkt)
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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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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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forward_position_controller:
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type: forward_command_controller/ForwardCommandController
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forward_velocity_controller:
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type: forward_command_controller/ForwardCommandController
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joint_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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gripper_controller:
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type: position_controllers/GripperActionController
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forward_position_controller:
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ros__parameters:
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joints:
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- openarm_joint1
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- openarm_joint2
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- openarm_joint3
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- openarm_joint4
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- openarm_joint5
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- openarm_joint6
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- openarm_joint7
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interface_name: position
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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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forward_velocity_controller:
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ros__parameters:
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joints:
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- openarm_joint1
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- openarm_joint2
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- openarm_joint3
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- openarm_joint4
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- openarm_joint5
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- openarm_joint6
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- openarm_joint7
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interface_name: velocity
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command_interfaces:
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- velocity
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state_interfaces:
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- velocity
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joint_trajectory_controller:
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ros__parameters:
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joints:
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- openarm_joint1
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- openarm_joint2
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- openarm_joint3
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- openarm_joint4
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- openarm_joint5
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- openarm_joint6
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- openarm_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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state_publish_rate: 50.0 # Defaults to 50
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action_monitor_rate: 50.0 # Defaults to 20
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allow_partial_joints_goal: false # Defaults to false
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constraints:
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stopped_velocity_tolerance: 0.01 # Defaults to 0.01
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goal_time: 0.0 # Defaults to 0.0 (start immediately)
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gripper_controller:
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ros__parameters:
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joint: openarm_finger_joint1
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command_interfaces:
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- position
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state_interfaces:
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- position |