595fbe7745
- openarm_bringup: ros2_control bringup - openarm_hardware: hardware interface for ros2_control
25 lines
543 B
YAML
25 lines
543 B
YAML
# MoveIt uses this configuration for controller management
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moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
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moveit_simple_controller_manager:
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controller_names:
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- openarm_arm_controller
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- gripper_controller
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openarm_arm_controller:
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type: FollowJointTrajectory
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joints:
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- rev1
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- rev2
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- rev3
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- rev4
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- rev5
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- rev6
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- rev7
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gripper_controller:
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type: GripperCommand
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joints:
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- left_pris1
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action_ns: gripper_cmd
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default: true |