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15 lines
429 B
15 lines
429 B
stretch_head_controller:
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type: "position_controllers/JointTrajectoryController"
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joints:
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- joint_head_pan
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- joint_head_tilt
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allow_partial_joints_goal: true
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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joint_head_pan: {trajectory: 0.1, goal: 0.1}
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joint_head_tilt: {trajectory: 0.1, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: 25
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action_monitor_rate: 10
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