595fbe7745
- openarm_bringup: ros2_control bringup - openarm_hardware: hardware interface for ros2_control
39 lines
780 B
YAML
39 lines
780 B
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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gripper_controller:
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type: position_controllers/GripperActionController
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openarm_arm_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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gripper_controller:
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ros__parameters:
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joint: left_pris1
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openarm_arm_controller:
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ros__parameters:
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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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command_interfaces:
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- position
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- velocity
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- effort
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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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allow_nonzero_velocity_at_trajectory_end: false
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