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simple_arm:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Position Controllers ---------------------------------------
joint1_position_controller:
type: effort_controllers/JointPositionController
joint: joint1
pid: {p: 6.0, i: 0.6, d: 0.06}
joint2_position_controller:
type: effort_controllers/JointPositionController
joint: joint2
pid: {p: 5.0, i: 0.5, d: 1.0}
joint3_position_controller:
type: effort_controllers/JointPositionController
joint: joint3
pid: {p: 4.0, i: 0.4, d: 1.0}
joint4_position_controller:
type: effort_controllers/JointPositionController
joint: joint4
pid: {p: 3.0, i: 0.3, d: 0.03}
joint5_position_controller:
type: effort_controllers/JointPositionController
joint: joint5
pid: {p: 1.0, i: 0.1, d: 0.01}