65 lines
1.5 KiB
YAML
65 lines
1.5 KiB
YAML
controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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#velocity_controller:
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# type: velocity_controllers/JointGroupVelocityController
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joint_trajectory_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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#velocity_controller:
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# ros__parameters:
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# joints:
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# - joint_motor1_arm1
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# - joint_motor2_arm1
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# - joint_motor3_arm1
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# - joint_motor1_arm2
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# - joint_motor2_arm2
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# - joint_motor3_arm2
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# - joint_motor1_arm3
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# - joint_motor2_arm3
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# - joint_motor3_arm3
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# - joint_motor1_arm4
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# - joint_motor2_arm4
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# - joint_motor3_arm4
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# - joint_motor1_arm5
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# - joint_motor2_arm5
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# - joint_motor3_arm5
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# - joint_motor1_arm6
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# - joint_motor2_arm6
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# - joint_motor3_arm6
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joint_trajectory_controller:
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ros__parameters:
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joints:
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- joint_motor1_arm1
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- joint_motor2_arm1
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- joint_motor3_arm1
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- joint_motor1_arm2
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- joint_motor2_arm2
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- joint_motor3_arm2
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- joint_motor1_arm3
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- joint_motor2_arm3
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- joint_motor3_arm3
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- joint_motor1_arm4
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- joint_motor2_arm4
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- joint_motor3_arm4
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- joint_motor1_arm5
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- joint_motor2_arm5
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- joint_motor3_arm5
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- joint_motor1_arm6
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- joint_motor2_arm6
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- joint_motor3_arm6
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command_interfaces:
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- position
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state_interfaces:
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- position
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allow_partial_joints_goal: true
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