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添加硬件

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This commit is contained in:
zhangshixiang
2025-07-25 12:17:35 +08:00
parent e7d90a8aae
commit ee576c9f6e
13 changed files with 13735 additions and 49 deletions
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26
unilabos/device_mesh/ros2_controllers.yaml
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@@ -1,31 +1,5 @@
arm_slider_arm_controller:
ros__parameters:
command_interfaces:
- position
joints:
- 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
arm_slider_gripper_controller:
ros__parameters:
command_interfaces:
- position
joints:
- arm_slider_gripper_right_joint
state_interfaces:
- position
- velocity
controller_manager:
ros__parameters:
arm_slider_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
arm_slider_gripper_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
update_rate: 100