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Migrate to Gazebo Fortress

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Ilya Uraev 2023-02-03 07:04:12 +00:00 • committed by Igor Brylyov
parent b34c00a9b9
commit e46c7bef74
113 changed files with 2751 additions and 25450 deletions
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41
rasmt_support/config/rasmt_position_velocity_controllers.yaml Normal file
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controller_manager:
ros__parameters:
update_rate: 1000 # Hz
rasmt_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
rasmt_hand_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
rasmt_arm_controller:
ros__parameters:
joints:
- rasmt_Rot_Z_1
- rasmt_Rot_Y_1
- rasmt_Rot_Z_2
- rasmt_Rot_Y_2
- rasmt_Rot_Z_3
- rasmt_Rot_Y_4
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
rasmt_hand_controller:
ros__parameters:
joints:
- rasmt_Slide_1
- rasmt_Slide_2
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity