wuselfuzz
/
hexapod_robot
Watch 1
Star 0
Fork 0
Code Issues 0 Pull Requests 0 Releases 0 Wiki Activity
ROS Components for hexapod_robot
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
16 Commits
1 Branch
86KB
Branch: main
Branches Tags
${ item.name }
Create branch ${ searchTerm }
from 'main'
${ noResults }
hexapod_robot/config/ros2_controllers.yaml

119 lines
2.4KB
Raw Permalink Blame History 

  1. controller_manager:

  2.     ros__parameters:

  3.         update_rate: 50

  4.         

  5.         joint_state_broadcaster:

  6.             type: joint_state_broadcaster/JointStateBroadcaster

  7. 

  8.         e1_group_controller:

  9.             type: joint_trajectory_controller/JointTrajectoryController

  10. 

  11.         e2_group_controller:

  12.             type: joint_trajectory_controller/JointTrajectoryController

  13. 

  14.         e3_group_controller:

  15.             type: joint_trajectory_controller/JointTrajectoryController

  16. 

  17.         e4_group_controller:

  18.             type: joint_trajectory_controller/JointTrajectoryController

  19. 

  20.         e5_group_controller:

  21.             type: joint_trajectory_controller/JointTrajectoryController

  22. 

  23.         e6_group_controller:

  24.             type: joint_trajectory_controller/JointTrajectoryController

  25. 

  26. 

  27. e1_group_controller:

  28.     ros__parameters:

  29.         joints:

  30.             - c1_joint

  31.             - f1_joint

  32.             - t1_joint

  33.         

  34.         command_interfaces:

  35.             - position

  36.         

  37.         state_interfaces:

  38.             - position

  39. 

  40.         interpolation_method: none

  41. 

  42. 

  43. e2_group_controller:

  44.     ros__parameters:

  45.         joints:

  46.             - c2_joint

  47.             - f2_joint

  48.             - t2_joint

  49.         

  50.         command_interfaces:

  51.             - position

  52.         

  53.         state_interfaces:

  54.             - position

  55. 

  56.         interpolation_method: none

  57. 

  58. e3_group_controller:

  59.     ros__parameters:

  60.         joints:

  61.             - c3_joint

  62.             - f3_joint

  63.             - t3_joint

  64.         

  65.         command_interfaces:

  66.             - position

  67.         

  68.         state_interfaces:

  69.             - position

  70. 

  71.         interpolation_method: none

  72. 

  73. e4_group_controller:

  74.     ros__parameters:

  75.         joints:

  76.             - c4_joint

  77.             - f4_joint

  78.             - t4_joint

  79.         

  80.         command_interfaces:

  81.             - position

  82.         

  83.         state_interfaces:

  84.             - position

  85. 

  86.         interpolation_method: none

  87. 

  88. 

  89. e5_group_controller:

  90.     ros__parameters:

  91.         joints:

  92.             - c5_joint

  93.             - f5_joint

  94.             - t5_joint

  95.         

  96.         command_interfaces:

  97.             - position

  98.         

  99.         state_interfaces:

  100.             - position

  101. 

  102.         interpolation_method: none

  103. 

  104. 

  105. e6_group_controller:

  106.     ros__parameters:

  107.         joints:

  108.             - c6_joint

  109.             - f6_joint

  110.             - t6_joint

  111.         

  112.         command_interfaces:

  113.             - position

  114.         

  115.         state_interfaces:

  116.             - position

  117. 

  118.         interpolation_method: none