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31 lines
No EOL
941 B
YAML
31 lines
No EOL
941 B
YAML
# Simulation settings for using moveit_sim_controllers
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moveit_sim_hw_interface:
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joint_model_group: arm_group
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joint_model_group_pose: init_pose
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# Settings for ros_control_boilerplate control loop
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generic_hw_control_loop:
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loop_hz: 300
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cycle_time_error_threshold: 0.01
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# Settings for ros_control hardware interface
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hardware_interface:
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joints:
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- vitual_joint
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- joint2_to_joint1
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- joint3_to_joint2
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- joint4_to_joint3
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- joint5_to_joint4
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- joint6_to_joint5
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- joint6output_to_joint6
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sim_control_mode: 1 # 0: position, 1: velocity
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# Publish all joint states
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# Creates the /joint_states topic necessary in ROS
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50
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controller_list:
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[]
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# - name: arm_controller
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# action_ns: follow_joint_trajectory
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# type: FollowJointTrajectory
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# allowed_execution_duration_scaling: 1.2
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# allowed_goal_duration_margin: 0.5 |