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
47 lines
1.1 KiB
YAML
47 lines
1.1 KiB
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_gripper_controller
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- right_gripper_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
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left_gripper_controller:
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type: GripperCommand
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joints:
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- left_left_pris1
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action_ns: gripper_cmd
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default: true
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right_gripper_controller:
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type: GripperCommand
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joints:
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- right_left_pris1
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action_ns: gripper_cmd
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default: true |