- controller_manager:
- ros__parameters:
- update_rate: 50
-
- joint_state_broadcaster:
- type: joint_state_broadcaster/JointStateBroadcaster
-
- joint_trajectory_controller:
- type: joint_trajectory_controller/JointTrajectoryController
-
- forward_position_controller:
- type: forward_command_controller/ForwardCommandController
-
-
-
- forward_position_controller:
- ros__parameters:
- joints:
- - t3_joint
- interface_name: position
-
- joint_trajectory_controller:
- ros__parameters:
- joints:
- - c1_joint
- - f1_joint
- - t1_joint
-
- - c2_joint
- - f2_joint
- - t2_joint
-
- - c3_joint
- - f3_joint
- - t3_joint
-
- - c4_joint
- - f4_joint
- - t4_joint
-
- - c5_joint
- - f5_joint
- - t5_joint
-
- - c6_joint
- - f6_joint
- - t6_joint
-
- command_interfaces:
- - position
-
- state_interfaces:
- - position
-
- action_monitor_rate: 20.0
-
- allow_partial_joints_goal: false
|
