66 lines
1.7 KiB
YAML
66 lines
1.7 KiB
YAML
publisher_scaled_joint_trajectory_controller:
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ros__parameters:
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controller_name: "scaled_joint_trajectory_controller"
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wait_sec_between_publish: 6
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goal_names: ["pos1", "pos2", "pos3", "pos4"]
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pos1:
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positions: [0.785, -1.57, 0.785, 0.785, 0.785, 0.785]
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pos2:
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positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
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pos3:
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positions: [0.0, -1.57, 0.0, 0.0, -0.785, 0.0]
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pos4:
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positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
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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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check_starting_point: true
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starting_point_limits:
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shoulder_pan_joint: [-0.1,0.1]
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shoulder_lift_joint: [-1.6,-1.5]
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elbow_joint: [-0.1,0.1]
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wrist_1_joint: [-1.6,-1.5]
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wrist_2_joint: [-0.1,0.1]
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wrist_3_joint: [-0.1,0.1]
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publisher_joint_trajectory_controller:
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ros__parameters:
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controller_name: "joint_trajectory_controller"
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wait_sec_between_publish: 6
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goal_names: ["pos1", "pos2", "pos3", "pos4"]
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pos1:
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positions: [0.785, -1.57, 0.785, 0.785, 0.785, 0.785]
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pos2:
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positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
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pos3:
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positions: [0.0, -1.57, 0.0, 0.0, -0.785, 0.0]
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pos4:
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positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
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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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check_starting_point: true
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starting_point_limits:
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shoulder_pan_joint: [-0.1,0.1]
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shoulder_lift_joint: [-1.6,-1.5]
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elbow_joint: [-0.1,0.1]
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wrist_1_joint: [-1.6,-1.5]
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wrist_2_joint: [-0.1,0.1]
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wrist_3_joint: [-0.1,0.1]
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