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ROS Components for hexapod_robot
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hexapod_robot/config/moveit_controllers.yaml

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  1. # MoveIt uses this configuration for controller management

  2. 

  3. moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

  4. 

  5. moveit_simple_controller_manager:

  6.   controller_names:

  7.     - e1_group_controller

  8.     - e2_group_controller

  9.     - e3_group_controller

  10.     - e4_group_controller

  11.     - e5_group_controller

  12.     - e6_group_controller

  13. 

  14.   e1_group_controller:

  15.     type: FollowJointTrajectory

  16.     action_ns: follow_joint_trajectory

  17.     default: true

  18.     joints:

  19.       - c1_joint

  20.       - f1_joint

  21.       - t1_joint

  22.     action_ns: follow_joint_trajectory

  23.     default: true

  24. 

  25.   e2_group_controller:

  26.     type: FollowJointTrajectory

  27.     action_ns: follow_joint_trajectory

  28.     default: true

  29.     joints:

  30.       - c2_joint

  31.       - f2_joint

  32.       - t2_joint

  33.     action_ns: follow_joint_trajectory

  34.     default: true

  35. 

  36.   e3_group_controller:

  37.     type: FollowJointTrajectory

  38.     action_ns: follow_joint_trajectory

  39.     default: true

  40.     joints:

  41.       - c3_joint

  42.       - f3_joint

  43.       - t3_joint

  44.     action_ns: follow_joint_trajectory

  45.     default: true

  46. 

  47.   e4_group_controller:

  48.     type: FollowJointTrajectory

  49.     action_ns: follow_joint_trajectory

  50.     default: true

  51.     joints:

  52.       - c4_joint

  53.       - f4_joint

  54.       - t4_joint

  55.     action_ns: follow_joint_trajectory

  56.     default: true

  57. 

  58.   e5_group_controller:

  59.     type: FollowJointTrajectory

  60.     action_ns: follow_joint_trajectory

  61.     default: true

  62.     joints:

  63.       - c5_joint

  64.       - f5_joint

  65.       - t5_joint

  66.     action_ns: follow_joint_trajectory

  67.     default: true

  68. 

  69.   e6_group_controller:

  70.     type: FollowJointTrajectory

  71.     action_ns: follow_joint_trajectory

  72.     default: true

  73.     joints:

  74.       - c6_joint

  75.       - f6_joint

  76.       - t6_joint

  77.     action_ns: follow_joint_trajectory

  78.     default: true

  79. 

  80. 

  81.