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hexapod_robot
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ROS Components for hexapod_robot
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hexapod_robot/config/ros2_controllers.yaml

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  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. e2_group_controller:

  41.     ros__parameters:

  42.         joints:

  43.             - c2_joint

  44.             - f2_joint

  45.             - t2_joint

  46.         

  47.         command_interfaces:

  48.             - position

  49.         

  50.         state_interfaces:

  51.             - position

  52. 

  53. e3_group_controller:

  54.     ros__parameters:

  55.         joints:

  56.             - c3_joint

  57.             - f3_joint

  58.             - t3_joint

  59.         

  60.         command_interfaces:

  61.             - position

  62.         

  63.         state_interfaces:

  64.             - position

  65. 

  66. e4_group_controller:

  67.     ros__parameters:

  68.         joints:

  69.             - c4_joint

  70.             - f4_joint

  71.             - t4_joint

  72.         

  73.         command_interfaces:

  74.             - position

  75.         

  76.         state_interfaces:

  77.             - position

  78. 

  79. e5_group_controller:

  80.     ros__parameters:

  81.         joints:

  82.             - c5_joint

  83.             - f5_joint

  84.             - t5_joint

  85.         

  86.         command_interfaces:

  87.             - position

  88.         

  89.         state_interfaces:

  90.             - position

  91. 

  92. e6_group_controller:

  93.     ros__parameters:

  94.         joints:

  95.             - c6_joint

  96.             - f6_joint

  97.             - t6_joint

  98.         

  99.         command_interfaces:

  100.             - position

  101.         

  102.         state_interfaces:

  103.             - position