30 lines
642 B
YAML
30 lines
642 B
YAML
# This config file is used by ros2_control
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controller_manager:
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ros__parameters:
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update_rate: 1000 # Hz
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arm_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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arm_controller:
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ros__parameters:
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joints:
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- base_rot
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- base_link1_joint
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- link1_link2_joint
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- link2_rot
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- link2_link3_joint
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- link3_rot
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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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- velocity
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constraints:
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stopped_velocity_tolerance: 0.01
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goal_time: 0.0 |