robossembler/runtime
7
0
Fork 0
Code Issues 4 Pull requests Projects Releases Packages Wiki Activity Actions

feat: add cartesian_twist_controller to launch pipeline

Browse source
This commit is contained in:
Ilya Uraev 2025-05-19 20:28:28 +03:00
parent 2d3d2b4951
commit 3eeab7e1e5
1 changed files with 3 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

5
rbs_bringup/launch/control.launch.py
View file

@ -35,6 +35,8 @@ def launch_setup(context, *args, **kwargs):
and control_space == "task",
"cartesian_force_controller": control_strategy == "effort"
and control_space == "task",
"cartesian_twist_controller": control_strategy == "velocity"
and control_space == "task",
"joint_effort_controller": control_strategy == "effort"
and control_space == "joint",
"force_torque_sensor_broadcaster": control_strategy == "effort"
@ -74,10 +76,9 @@ def generate_launch_description():
default_value="true",
description="Whether to activate the gripper_controller.",
),
DeclareLaunchArgument(
"interactive_control",
default_value="true",
default_value="false",
description="Wheter to run the motion_control_handle controller",
),
]