mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
25 lines
No EOL
738 B
YAML
25 lines
No EOL
738 B
YAML
# Simulation settings for using moveit_sim_controllers
|
|
moveit_sim_hw_interface:
|
|
joint_model_group: arm_group
|
|
joint_model_group_pose: init_pose
|
|
# Settings for ros_control_boilerplate control loop
|
|
generic_hw_control_loop:
|
|
loop_hz: 300
|
|
cycle_time_error_threshold: 0.01
|
|
# Settings for ros_control hardware interface
|
|
hardware_interface:
|
|
joints:
|
|
- joint2_to_joint1
|
|
- joint3_to_joint2
|
|
- joint4_to_joint3
|
|
- joint5_to_joint4
|
|
- joint6_to_joint5
|
|
- joint6output_to_joint6
|
|
sim_control_mode: 1 # 0: position, 1: velocity
|
|
# Publish all joint states
|
|
# Creates the /joint_states topic necessary in ROS
|
|
joint_state_controller:
|
|
type: joint_state_controller/JointStateController
|
|
publish_rate: 50
|
|
controller_list:
|
|
[] |