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3d11a0cc50
1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动
32 lines
814 B
YAML
32 lines
814 B
YAML
benyao_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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- benyao_arm_base_joint
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- benyao_arm_link_1_joint
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- benyao_arm_link_2_joint
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- benyao_arm_link_3_joint
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- benyao_gripper_base_joint
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state_interfaces:
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- position
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- velocity
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benyao_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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- benyao_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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benyao_arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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benyao_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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