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23 lines
685 B
23 lines
685 B
stretch_arm_controller:
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type: "position_controllers/JointTrajectoryController"
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joints:
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- joint_lift
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- joint_arm_l3
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- joint_arm_l2
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- joint_arm_l1
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- joint_arm_l0
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- joint_wrist_yaw
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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_lift: {trajectory: 0.1, goal: 0.1}
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joint_arm_l3: {trajectory: 0.1, goal: 0.1}
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joint_arm_l2: {trajectory: 0.1, goal: 0.1}
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joint_arm_l1: {trajectory: 0.1, goal: 0.1}
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joint_arm_l0: {trajectory: 0.1, goal: 0.1}
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joint_wrist_yaw: {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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