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seven_dof_arm:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Position Controllers ---------------------------------------
joint1_position_controller:
type: position_controllers/JointPositionController
joint: shoulder_pan_joint
pid: {p: 100.0, i: 0.01, d: 10.0}
joint2_position_controller:
type: position_controllers/JointPositionController
joint: shoulder_pitch_joint
pid: {p: 100.0, i: 0.01, d: 10.0}
joint3_position_controller:
type: position_controllers/JointPositionController
joint: elbow_roll_joint
pid: {p: 100.0, i: 0.01, d: 10.0}
joint4_position_controller:
type: position_controllers/JointPositionController
joint: elbow_pitch_joint
pid: {p: 100.0, i: 0.01, d: 10.0}
joint5_position_controller:
type: position_controllers/JointPositionController
joint: wrist_roll_joint
pid: {p: 100.0, i: 0.01, d: 10.0}
joint6_position_controller:
type: position_controllers/JointPositionController
joint: wrist_pitch_joint
pid: {p: 100.0, i: 0.01, d: 10.0}
joint7_position_controller:
type: position_controllers/JointPositionController
joint: gripper_roll_joint
pid: {p: 100.0, i: 0.01, d: 10.0}