机械臂仿真构建完成

2026-02-24 22:09:19 +08:00
parent 893a5ae069
commit 9d8fc2ba53
460 changed files with 19966 additions and 522 deletions
--- a/simulation_ws/robotic_arm/config/controllers.yaml
+++ b/simulation_ws/robotic_arm/config/controllers.yaml
@@ -0,0 +1,21 @@
+six_axis_arm:
+  joint_state_controller:
+    type: joint_state_controller/JointStateController
+    publish_rate: 50
+
+  arm_position_controller:
+    type: position_controllers/JointTrajectoryController
+    joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+      - joint6
+    gains:
+      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 }