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simulation_ws/robotic_arm/config/controllers.yaml

@@ -1,12 +1,15 @@
-six_axis_arm:
-  # 状态发布
-  joint_state_controller:
-    type: joint_state_controller/JointStateController
-    publish_rate: 50
+controller_manager:
+  ros__parameters:
+    update_rate: 50
 
-  # 轨迹控制
-  arm_position_controller:
-    type: position_controllers/JointTrajectoryController # 使用关节轨迹控制器:让机器人按照轨迹运动到目标位置
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    arm_position_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+arm_position_controller:
+  ros__parameters:
     joints:
       - joint1
       - joint2
@@ -14,11 +17,15 @@ six_axis_arm:
       - joint4
       - joint5
       - joint6
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
     gains:
-      # 每个关节的PID增益设置
-      joint1: { p: 100, d: 10, i: 0.01 }
-      joint2: { p: 100, d: 10, i: 0.01 }
-      joint3: { p: 100, d: 10, i: 0.01 }
-      joint4: { p: 100, d: 10, i: 0.01 }
-      joint5: { p: 100, d: 10, i: 0.01 }
-      joint6: { p: 100, d: 10, i: 0.01 }
+      joint1: { p: 100.0, d: 10.0, i: 0.01 }
+      joint2: { p: 100.0, d: 10.0, i: 0.01 }
+      joint3: { p: 100.0, d: 10.0, i: 0.01 }
+      joint4: { p: 100.0, d: 10.0, i: 0.01 }
+      joint5: { p: 100.0, d: 10.0, i: 0.01 }
+      joint6: { p: 100.0, d: 10.0, i: 0.01 }