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Adding an example configuration file.

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mattrichard committed Oct 18, 2014
1 parent f770105 commit 5bfa3574466dd01cf2920641612818f985e22950
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  1. +24 −0 config/example.config
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baud: 115200
port: /dev/ttyUSB0
controllers: {
joint_controller_1: {
type: joint_controller,
joints: [joint_1, joint_2, joint_3],
publish_joint_states: true,
publish_rate: 10
},
joint_controller_2: {
type: joint_controller,
joints: [joint_4, joint_5],
publish_joint_states: true,
publish_rate: 10
}
}
joints: {
joint_1: {channel: 0, max_angle: 1.57, min_angle: -1.57, offset_angle: 0.0, default_angle: 0.0, initialize: true, invert: false},
joint_2: {channel: 1, max_angle: 1.57, min_angle: -1.57, offset_angle: 0.0, default_angle: 0.0, initialize: true, invert: false},
joint_3: {channel: 2, max_angle: 1.57, min_angle: -1.57, offset_angle: 0.0, default_angle: 0.0, initialize: true, invert: false},
joint_4: {channel: 3, max_angle: 1.57, min_angle: -1.57, offset_angle: 0.0, default_angle: 0.0, initialize: true, invert: false},
joint_5: {channel: 4, max_angle: 1.57, min_angle: -1.57, offset_angle: 0.0, default_angle: 0.0, initialize: true, invert: false}
}

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