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31 lines
840 B
31 lines
840 B
# Publish all joint states
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# Creates the /joint_states topic necessary in ROS
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50
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controller_list:
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- name: stretch_arm_controller
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action_ns: follow_joint_trajectory
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default: True
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type: FollowJointTrajectory
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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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- name: stretch_head_controller
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action_ns: follow_joint_trajectory
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default: True
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type: FollowJointTrajectory
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joints:
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- joint_head_pan
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- joint_head_tilt
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- name: stretch_gripper_controller
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action_ns: follow_joint_trajectory
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default: True
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type: FollowJointTrajectory
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joints:
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- joint_gripper_finger_left
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- joint_gripper_finger_right
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