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aizuspider_controller_settings.yaml
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# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Joint Trajectory Controllers -------------------------------
fullbody_controller:
# type: effort_controllers/JointTrajectoryController
# type: velocity_controllers/JointTrajectoryController
type: position_controllers/JointTrajectoryController
joints:
- FR_FLIPPER
- FL_FLIPPER
- BR_FLIPPER
- BL_FLIPPER
- SHOULDER
- ARM
- FOREARM
- WRIST1
- WRIST2
- HAND
- FINGER1
- FINGER2
- FINGER3
gains:
FR_FLIPPER : {p: 8000.0, i: 0.0, d: 0.0}
FL_FLIPPER : {p: 8000.0, i: 0.0, d: 0.0}
BR_FLIPPER : {p: 8000.0, i: 0.0, d: 0.0}
BL_FLIPPER : {p: 8000.0, i: 0.0, d: 0.0}
SHOULDER : {p: 2000.0, i: 0.0, d: 0.0}
ARM : {p: 2000.0, i: 0.0, d: 0.0}
FOREARM : {p: 2000.0, i: 0.0, d: 0.0}
WRIST1 : {p: 2000.0, i: 0.0, d: 0.0}
WRIST2 : {p: 2000.0, i: 0.0, d: 0.0}
HAND : {p: 2000.0, i: 0.0, d: 0.0}
FINGER1 : {p: 100.0, i: 0.0, d: 0.0}
FINGER2 : {p: 100.0, i: 0.0, d: 0.0}
FINGER3 : {p: 100.0, i: 0.0, d: 0.0}
# rarm_controller:
# # type: effort_controllers/JointTrajectoryController
# # type: velocity_controllers/JointTrajectoryController
# type: position_controllers/JointTrajectoryController
# joints:
# - SHOULDER
# - ARM
# - FOREARM
# - WRIST1
# - WRIST2
# - HAND
# - FINGER1
# - FINGER2
# - FINGER3
# gains:
# SHOULDER : {p: 2000.0, i: 0.0, d: 0.0}
# ARM : {p: 2000.0, i: 0.0, d: 0.0}
# FOREARM : {p: 2000.0, i: 0.0, d: 0.0}
# WRIST1 : {p: 2000.0, i: 0.0, d: 0.0}
# WRIST2 : {p: 2000.0, i: 0.0, d: 0.0}
# HAND : {p: 2000.0, i: 0.0, d: 0.0}
# FINGER1 : {p: 100.0, i: 0.0, d: 0.0}
# FINGER2 : {p: 100.0, i: 0.0, d: 0.0}
# FINGER3 : {p: 100.0, i: 0.0, d: 0.0}
# rleg_controller:
# # type: effort_controllers/JointTrajectoryController
# # type: velocity_controllers/JointTrajectoryController
# type: position_controllers/JointTrajectoryController
# joints:
# - FR_FLIPPER
# - BR_FLIPPER
# gains:
# FR_FLIPPER : {p: 8000.0, i: 0.0, d: 0.0}
# BR_FLIPPER : {p: 8000.0, i: 0.0, d: 0.0}
# lleg_controller:
# # type: effort_controllers/JointTrajectoryController
# # type: velocity_controllers/JointTrajectoryController
# type: position_controllers/JointTrajectoryController
# joints:
# - FL_FLIPPER
# - BL_FLIPPER
# gains:
# FL_FLIPPER : {p: 8000.0, i: 0.0, d: 0.0}
# BL_FLIPPER : {p: 8000.0, i: 0.0, d: 0.0}
#robot_interface_controllers: ['rarm', 'rleg', 'lleg' ]
robot_interface_controllers: ['fullbody']