From 37d9422d02bb450b4fadab3e049d9b0bef8a220b Mon Sep 17 00:00:00 2001
From: Marcus Grieger <marcus@grieger.xyz>
Date: Mon, 5 Feb 2024 21:32:33 +0000
Subject: [PATCH] turned off interpolation for jtc

---
 config/ros2_controllers.yaml | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/config/ros2_controllers.yaml b/config/ros2_controllers.yaml
index c0ae99d..cc3e921 100644
--- a/config/ros2_controllers.yaml
+++ b/config/ros2_controllers.yaml
@@ -37,6 +37,9 @@ e1_group_controller:
         state_interfaces:
             - position
 
+        interpolation_method: none
+
+
 e2_group_controller:
     ros__parameters:
         joints:
@@ -50,6 +53,8 @@ e2_group_controller:
         state_interfaces:
             - position
 
+        interpolation_method: none
+
 e3_group_controller:
     ros__parameters:
         joints:
@@ -63,6 +68,8 @@ e3_group_controller:
         state_interfaces:
             - position
 
+        interpolation_method: none
+
 e4_group_controller:
     ros__parameters:
         joints:
@@ -76,6 +83,9 @@ e4_group_controller:
         state_interfaces:
             - position
 
+        interpolation_method: none
+
+
 e5_group_controller:
     ros__parameters:
         joints:
@@ -89,6 +99,9 @@ e5_group_controller:
         state_interfaces:
             - position
 
+        interpolation_method: none
+
+
 e6_group_controller:
     ros__parameters:
         joints:
@@ -101,3 +114,5 @@ e6_group_controller:
         
         state_interfaces:
             - position
+
+        interpolation_method: none