40 lines
794 B
YAML
40 lines
794 B
YAML
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controller_names:
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- scaled_joint_trajectory_controller
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- joint_trajectory_controller
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- robotiq_gripper_controller
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scaled_joint_trajectory_controller:
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action_ns: follow_joint_trajectory
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type: FollowJointTrajectory
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default: true
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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joint_trajectory_controller:
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action_ns: follow_joint_trajectory
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type: FollowJointTrajectory
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default: false
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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robotiq_gripper_controller:
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action_ns: robotiq_2f_controllers
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type: RobotiqGripperCommandController
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default: true
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joint: gripper_gap
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max_gap: 0.14
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