-
Notifications
You must be signed in to change notification settings - Fork 1
/
mycobot_280_controllers.yaml
62 lines (49 loc) · 2.14 KB
/
mycobot_280_controllers.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
# controller_manager provides the necessary infrastructure to manage multiple controllers efficiently and robustly using ROS 2 Control.
controller_manager:
ros__parameters:
update_rate: 10 # update_rate specifies how often (in Hz) the controllers should be updated.
# The JointTrajectoryController allows you to send joint trajectory commands to a group
# of joints on a robot. These commands specify the desired positions for each joint.
arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
grip_controller:
type: joint_trajectory_controller/JointTrajectoryController
# Responsible for publishing the current state of the robot's joints to the /joint_states
# ROS 2 topic
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
# Define the parameters for each controller
arm_controller:
ros__parameters:
joints:
- link1_to_link2
- link2_to_link3
- link3_to_link4
- link4_to_link5
- link5_to_link6
- link6_to_link6flange
# The controller will expect position commands as input for each of these joints.
command_interfaces:
- position
# Tells the controller that it should expect to receive position data as the state
# feedback from the hardware interface,
state_interfaces:
- position
# If true, When set to true, the controller will not use any feedback from the system
# (e.g., joint positions, velocities, efforts) to compute the control commands.
open_loop_control: true
# When set to true, it allows the controller to integrate the trajectory goals it receives.
# This means that if the goal trajectory only specifies positions, the controller will
# numerically integrate the positions to compute the velocities and accelerations required
# to follow the trajectory.
allow_integration_in_goal_trajectories: true
grip_controller:
ros__parameters:
joints:
- gripper_controller
command_interfaces:
- position
state_interfaces:
- position
open_loop_control: true
allow_integration_in_goal_trajectories: true