595fbe7745
- openarm_bringup: ros2_control bringup - openarm_hardware: hardware interface for ros2_control
59 lines
1.8 KiB
YAML
59 lines
1.8 KiB
YAML
# Copyright (c) 2024 Stogl Robotics Consulting UG (haftungsbeschränkt)
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# Source of this file are templates in
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# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
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#
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publisher_forward_position_controller:
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ros__parameters:
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controller_name: "forward_position_controller"
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wait_sec_between_publish: 5
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goal_names: ["pos1", "pos2", "pos3", "pos4"]
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pos1: [0.185, 0.185, 0.185, 0.185, 0.185, 0.185, 0.185]
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pos2: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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pos3: [-0.185, -0.185, -0.185, -0.185, -0.185, -0.185, -0.185]
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pos4: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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publisher_joint_trajectory_controller:
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ros__parameters:
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controller_name: "joint_trajectory_controller"
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wait_sec_between_publish: 6
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repeat_the_same_goal: 1 # useful to simulate continuous inputs
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goal_time_from_start: 3.0
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goal_names: ["pos1", "pos2", "pos3", "pos4"]
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pos1:
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positions: [0.185, 0.185, 0.185, 0.185, 0.185, 0.185, 0.185]
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pos2:
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positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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pos3:
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positions: [-0.185, -0.185, -0.185, -0.185, -0.185, -0.185, -0.185]
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pos4:
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positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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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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