25 lines
708 B
YAML
25 lines
708 B
YAML
six_axis_arm:
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# 状态发布
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50
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# 轨迹控制
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arm_position_controller:
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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
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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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gains:
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# 每个关节的PID增益设置
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joint1: { p: 100, d: 10, i: 0.01 }
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joint2: { p: 100, d: 10, i: 0.01 }
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joint3: { p: 100, d: 10, i: 0.01 }
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joint4: { p: 100, d: 10, i: 0.01 }
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joint5: { p: 100, d: 10, i: 0.01 }
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joint6: { p: 100, d: 10, i: 0.01 }
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