2022-01-17 02:25:44 +04:00
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controller_manager:
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ros__parameters:
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2022-03-16 01:21:43 +04:00
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update_rate: 1000 # Hz
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2022-01-17 13:36:30 +04:00
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rasmt_arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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rasmt_hand_controller:
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2022-03-12 13:29:26 +04:00
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type: forward_command_controller/ForwardCommandController
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2022-01-17 02:25:44 +04:00
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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2022-01-17 13:36:30 +04:00
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rasmt_arm_controller:
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2022-01-17 02:25:44 +04:00
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ros__parameters:
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2022-01-17 13:36:30 +04:00
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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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2022-01-17 02:25:44 +04:00
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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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2022-01-17 13:36:30 +04:00
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rasmt_hand_controller:
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ros__parameters:
|
2022-01-24 19:10:30 +00:00
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joints:
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- rasmt_Slide_1
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- rasmt_Slide_2
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2022-03-12 13:29:26 +04:00
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interface_name: position
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