33 lines
766 B
YAML
33 lines
766 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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- left_arm_controller
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- right_arm_controller
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left_arm_controller:
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type: FollowJointTrajectory
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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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action_ns: follow_joint_trajectory
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default: true
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right_arm_controller:
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type: FollowJointTrajectory
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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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action_ns: follow_joint_trajectory
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default: true |