96 lines
2.2 KiB
YAML
96 lines
2.2 KiB
YAML
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controller_manager:
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ros__parameters:
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update_rate: 1000 # Hz
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gravity_compensation_example_controller:
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type: franka_example_controllers/GravityCompensationExampleController
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joint_impedance_example_controller:
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type: franka_example_controllers/JointImpedanceExampleController
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move_to_start_example_controller:
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type: franka_example_controllers/MoveToStartExampleController
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model_example_controller:
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type: franka_example_controllers/ModelExampleController
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joint_trajectory_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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franka_robot_state_broadcaster:
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type: franka_robot_state_broadcaster/FrankaRobotStateBroadcaster
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franka_robot_state_broadcaster:
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ros__parameters:
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arm_id: panda
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model_example_controller:
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ros__parameters:
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arm_id: panda
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joint_trajectory_controller:
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ros__parameters:
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joints:
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- panda_joint1
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- panda_joint2
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- panda_joint3
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- panda_joint4
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- panda_joint5
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- panda_joint6
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- panda_joint7
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command_interfaces:
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- effort
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state_interfaces:
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- position
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- velocity
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gains:
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panda_joint1: { p: 600., d: 30., i: 0., i_clamp: 1. }
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panda_joint2: { p: 600., d: 30., i: 0., i_clamp: 1. }
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panda_joint3: { p: 600., d: 30., i: 0., i_clamp: 1. }
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panda_joint4: { p: 600., d: 30., i: 0., i_clamp: 1. }
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panda_joint5: { p: 250., d: 10., i: 0., i_clamp: 1. }
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panda_joint6: { p: 150., d: 10., i: 0., i_clamp: 1. }
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panda_joint7: { p: 50., d: 5., i: 0., i_clamp: 1. }
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joint_impedance_example_controller:
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ros__parameters:
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arm_id: panda
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k_gains:
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- 24.0
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- 24.0
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- 24.0
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- 24.0
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- 10.0
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- 6.0
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- 2.0
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d_gains:
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- 2.0
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- 2.0
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- 2.0
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- 1.0
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- 1.0
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- 1.0
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- 0.5
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move_to_start_example_controller:
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ros__parameters:
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arm_id: panda
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k_gains:
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- 600.0
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- 600.0
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- 600.0
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- 600.0
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- 250.0
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- 150.0
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- 50.0
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d_gains:
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- 30.0
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- 30.0
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- 30.0
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- 30.0
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- 10.0
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- 10.0
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- 5.
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