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hexapod_robot
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ROS Components for hexapod_robot
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hexapod_robot/bringup/config/controllers.yaml

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  1. controller_manager:

  2.     ros__parameters:

  3.         update_rate: 10

  4.         

  5.         joint_state_broadcaster:

  6.             type: joint_state_broadcaster/JointStateBroadcaster

  7.             

  8.         forward_position_controller:

  9.             type: forward_command_controller/ForwardCommandController

  10.             

  11. forward_position_controller:

  12.     ros__parameters:

  13.         joints:

  14.             - c1_joint

  15.             - c2_joint

  16.             - c3_joint

  17.             - c4_joint

  18.             - c5_joint

  19.             - c6_joint

  20.             - f1_joint

  21.             - f2_joint

  22.             - f3_joint

  23.             - f4_joint

  24.             - f5_joint

  25.             - f6_joint

  26.             - t1_joint

  27.             - t2_joint

  28.             - t3_joint

  29.             - t4_joint

  30.             - t5_joint

  31.             - t6_joint

  32.         interface_name: position