Removed old project files

2023-03-21 10:33:09 +00:00
parent 62dc1236f8
commit b682211369
51 changed files with 76 additions and 3195 deletions
--- a/src/iisy_config/config/ros2_controllers.yaml
+++ b/src/iisy_config/config/ros2_controllers.yaml
@@ -0,0 +1,30 @@
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 1000  # Hz
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+arm_controller:
+  ros__parameters:
+    joints:
+      - base_rot
+      - base_link1_joint
+      - link1_link2_joint
+      - link2_rot
+      - link2_link3_joint
+      - link3_rot
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    open_loop_control: true
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0