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test scene for pick and place

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This commit is contained in:
Ilya Uraev 2022-03-12 13:29:26 +04:00
parent b4339edc19
commit 91f159e289
18 changed files with 219 additions and 133 deletions
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9
rasmt_support/config/rasmt_ros2_controllers.yaml
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@ -6,7 +6,7 @@ controller_manager:
type: joint_trajectory_controller/JointTrajectoryController
rasmt_hand_controller:
type: effort_controllers/JointGroupEffortController
type: forward_command_controller/ForwardCommandController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
@ -32,9 +32,4 @@ rasmt_hand_controller:
joints:
- rasmt_Slide_1
- rasmt_Slide_2
command_interfaces:
- effort
state_interfaces:
- position
- velocity
- effort
interface_name: position