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change arm's name

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This commit is contained in:
zhangshixiang
2025-06-10 00:49:42 +08:00
parent a72b97c454
commit 00e5714d24
25 changed files with 133 additions and 133 deletions
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20
unilabos/device_mesh/ros2_controllers.yaml
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@@ -1,30 +1,30 @@
benyao_arm_controller:
arm_slider_arm_controller:
ros__parameters:
command_interfaces:
- position
joints:
- benyao_arm_base_joint
- benyao_arm_link_1_joint
- benyao_arm_link_2_joint
- benyao_arm_link_3_joint
- benyao_gripper_base_joint
- arm_slider_arm_base_joint
- arm_slider_arm_link_1_joint
- arm_slider_arm_link_2_joint
- arm_slider_arm_link_3_joint
- arm_slider_gripper_base_joint
state_interfaces:
- position
- velocity
benyao_gripper_controller:
arm_slider_gripper_controller:
ros__parameters:
command_interfaces:
- position
joints:
- benyao_gripper_right_joint
- arm_slider_gripper_right_joint
state_interfaces:
- position
- velocity
controller_manager:
ros__parameters:
benyao_arm_controller:
arm_slider_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
benyao_gripper_controller:
arm_slider_gripper_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster