27 lines
641 B
YAML
27 lines
641 B
YAML
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# see controllers: http://control.ros.org/ros2_controllers/doc/controllers_index.html
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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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- 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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state_publish_rate: 50.0
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action_monitor_rate: 20.0
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