25 lines
592 B
YAML
25 lines
592 B
YAML
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controller_manager:
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ros__parameters:
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update_rate: 1000 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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position_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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position_trajectory_controller:
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ros__parameters:
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joints:
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- rasmt_Rot_Z_1
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- rasmt_Rot_Y_1
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- rasmt_Rot_Z_2
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- rasmt_Rot_Y_2
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- rasmt_Rot_Z_3
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- rasmt_Rot_Y_4
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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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state_publish_rate: 50.0
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action_monitor_rate: 20.0
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