32 lines
768 B
YAML
32 lines
768 B
YAML
controller_manager:
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ros__parameters:
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update_rate: 50
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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arm_position_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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arm_position_controller:
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ros__parameters:
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joints:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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- joint6
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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gains:
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joint1: { p: 100.0, d: 10.0, i: 0.01 }
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joint2: { p: 100.0, d: 10.0, i: 0.01 }
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joint3: { p: 100.0, d: 10.0, i: 0.01 }
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joint4: { p: 100.0, d: 10.0, i: 0.01 }
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joint5: { p: 100.0, d: 10.0, i: 0.01 }
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joint6: { p: 100.0, d: 10.0, i: 0.01 }
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