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🔧 add controllers

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This commit is contained in:
Ilya Uraev 2021-10-24 21:42:40 +04:00
parent badaefd34e
commit b2a89ecbde
2 changed files with 17 additions and 7 deletions
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12
rasms_description/urdf/rasms.control.xacro
View file

@ -14,6 +14,8 @@
<param name="max"> 1</param> <param name="max"> 1</param>
</command_interface> </command_interface>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint> </joint>
<joint name="joint2"> <joint name="joint2">
<command_interface name="position"> <command_interface name="position">
@ -21,6 +23,8 @@
<param name="max"> 1</param> <param name="max"> 1</param>
</command_interface> </command_interface>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint> </joint>
<joint name="joint3"> <joint name="joint3">
<command_interface name="position"> <command_interface name="position">
@ -28,6 +32,8 @@
<param name="max"> 1</param> <param name="max"> 1</param>
</command_interface> </command_interface>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint> </joint>
<joint name="joint4"> <joint name="joint4">
<command_interface name="position"> <command_interface name="position">
@ -35,6 +41,8 @@
<param name="max"> 1</param> <param name="max"> 1</param>
</command_interface> </command_interface>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint> </joint>
<joint name="joint5"> <joint name="joint5">
<command_interface name="position"> <command_interface name="position">
@ -42,6 +50,8 @@
<param name="max"> 1</param> <param name="max"> 1</param>
</command_interface> </command_interface>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint> </joint>
<joint name="joint6"> <joint name="joint6">
<command_interface name="position"> <command_interface name="position">
@ -49,6 +59,8 @@
<param name="max"> 1</param> <param name="max"> 1</param>
</command_interface> </command_interface>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint> </joint>
</ros2_control> </ros2_control>
</xacro:macro> </xacro:macro>

12
rasms_ign/world/rasms.world.sdf
View file

@ -83,17 +83,15 @@
</link> </link>
</model> </model>
<include> <include>
<!--Нужно залить на сервер и поменять на ссылку --> <uri>rasms_model</uri>
<uri>roboasm_sgonov_world</uri>
<pose>0 0 0.07 0 0 0</pose>
</include> </include>
<include> <!--include>
<uri>realsense_camera</uri> <uri>realsense_camera</uri>
<pose>1 0 1 0 0.97 3.14159</pose> <pose>1 0 1 0 0.97 3.14159</pose>
<static>true</static> <static>true</static>
</include> </include-->
<!--model name="3d_camera"> <model name="3d_camera">
<static>true</static> <static>true</static>
<link name="kinect_sensor"> <link name="kinect_sensor">
<pose>1 0 1 0 1 3.14159</pose> <pose>1 0 1 0 1 3.14159</pose>
@ -142,7 +140,7 @@
</sensor> </sensor>
</link> </link>
</model--> </model>
</world> </world>
</sdf> </sdf>