mirror of
https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
synced 2025-09-15 13:08:35 +08:00
55 lines
1.2 KiB
YAML
55 lines
1.2 KiB
YAML
controller_manager:
|
|
ros__parameters:
|
|
use_sim_time: True
|
|
update_rate: 1000 # Hz
|
|
|
|
joint_state_broadcaster:
|
|
type: joint_state_broadcaster/JointStateBroadcaster
|
|
|
|
imu_broadcaster:
|
|
type: imu_sensor_broadcaster/IMUSensorBroadcaster
|
|
|
|
arm_controller:
|
|
type: joint_trajectory_controller/JointTrajectoryController
|
|
|
|
gripper_controller:
|
|
type: position_controllers/GripperActionController
|
|
|
|
imu_broadcaster:
|
|
ros__parameters:
|
|
use_sim_time: True
|
|
frame_id: imu_link
|
|
sensor_name: imu
|
|
|
|
arm_controller:
|
|
ros__parameters:
|
|
use_sim_time: True
|
|
joints:
|
|
- joint1
|
|
- joint2
|
|
- joint3
|
|
- joint4
|
|
interface_name: position
|
|
|
|
command_interfaces:
|
|
- position
|
|
|
|
state_interfaces:
|
|
- position
|
|
- velocity
|
|
|
|
state_publish_rate: 200.0 # Defaults to 50
|
|
action_monitor_rate: 20.0 # Defaults to 20
|
|
|
|
allow_partial_joints_goal: false # Defaults to false
|
|
open_loop_control: true
|
|
allow_integration_in_goal_trajectories: true
|
|
constraints:
|
|
stopped_velocity_tolerance: 0.01 # Defaults to 0.01
|
|
goal_time: 0.0 # Defaults to 0.0 (start immediately)
|
|
|
|
gripper_controller:
|
|
ros__parameters:
|
|
use_sim_time: True
|
|
joint: gripper_left_joint
|