robossembler/runtime
8
0
Fork 0
Code Issues 3 Pull requests Projects Releases Packages Wiki Activity Actions

Add gripper to plansys2 bt actions

Browse source
This commit is contained in:
Roman Andrianov 2022-01-24 19:10:30 +00:00 • committed by Igor Brylyov
parent 71cfa0991f
commit 43c8a363aa
18 changed files with 428 additions and 132 deletions
Download patch file Download diff file Expand all files Collapse all files

11
rasmt_support/config/rasmt_ros2_controllers.yaml
View file

@ -6,7 +6,7 @@ controller_manager:
type: joint_trajectory_controller/JointTrajectoryController
rasmt_hand_controller:
type: position_controllers/GripperActionController
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
@ -29,4 +29,11 @@ rasmt_arm_controller:
rasmt_hand_controller:
ros__parameters:
joint: rasmt_Slide_1
joints:
- rasmt_Slide_1
- rasmt_Slide_2
command_interfaces:
- position
state_interfaces:
- position
- velocity