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32 lines
854 B
YAML
32 lines
854 B
YAML
arm_slider_arm_controller:
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ros__parameters:
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command_interfaces:
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- position
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joints:
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- arm_slider_arm_base_joint
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- arm_slider_arm_link_1_joint
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- arm_slider_arm_link_2_joint
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- arm_slider_arm_link_3_joint
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- arm_slider_gripper_base_joint
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state_interfaces:
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- position
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- velocity
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arm_slider_gripper_controller:
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ros__parameters:
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command_interfaces:
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- position
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joints:
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- arm_slider_gripper_right_joint
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state_interfaces:
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- position
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- velocity
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controller_manager:
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ros__parameters:
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arm_slider_arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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arm_slider_gripper_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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update_rate: 100
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