fcd1a10291
* Rename openarm_bimanual_teleop to openarm_bimanual_bringup * Update package descriptions * Add quickstart link * Add note to source overlay * Add test installation step * Add poses and update default rviz config * Fix rev1 to match hardware * Align rev3 with hardware joint limits * Match hardware joint limits * Complete with more poses * Update README.md with moveit2 video * Add new READMEs in openarm_bringup and openarm_bimanual_moveit_config * Add octomap note
48 lines
1.0 KiB
YAML
48 lines
1.0 KiB
YAML
controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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joint_state_broad:
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type: joint_state_broadcaster/JointStateBroadcaster
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# left_arm_controller:
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# type: joint_trajectory_controller/JointTrajectoryController
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# right_arm_controller:
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# type: joint_trajectory_controller/JointTrajectoryController
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# left_arm_controller:
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# ros__parameters:
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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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# command_interfaces:
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# - position
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# - velocity
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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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# right_arm_controller:
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# ros__parameters:
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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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# command_interfaces:
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# - position
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# - velocity
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# state_interfaces:
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# - position
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# - velocity
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# - effort |