178 lines
5.3 KiB
YAML
178 lines
5.3 KiB
YAML
controller_manager:
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ros__parameters:
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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io_and_status_controller:
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type: ur_controllers/GPIOController
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speed_scaling_state_broadcaster:
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type: ur_controllers/SpeedScalingStateBroadcaster
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force_torque_sensor_broadcaster:
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type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
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joint_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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scaled_joint_trajectory_controller:
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type: ur_controllers/ScaledJointTrajectoryController
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forward_velocity_controller:
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type: velocity_controllers/JointGroupVelocityController
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forward_position_controller:
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type: position_controllers/JointGroupPositionController
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force_mode_controller:
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type: ur_controllers/ForceModeController
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freedrive_mode_controller:
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type: ur_controllers/FreedriveModeController
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passthrough_trajectory_controller:
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type: ur_controllers/PassthroughTrajectoryController
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tcp_pose_broadcaster:
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type: pose_broadcaster/PoseBroadcaster
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passthrough_trajectory_controller:
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type: ur_controllers/PassthroughTrajectoryController
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ur_configuration_controller:
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type: ur_controllers/URConfigurationController
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speed_scaling_state_broadcaster:
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ros__parameters:
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state_publish_rate: 100.0
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tf_prefix: "$(var tf_prefix)"
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io_and_status_controller:
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ros__parameters:
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tf_prefix: "$(var tf_prefix)"
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ur_configuration_controller:
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ros__parameters:
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tf_prefix: "$(var tf_prefix)"
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force_torque_sensor_broadcaster:
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ros__parameters:
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sensor_name: $(var tf_prefix)tcp_fts_sensor
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state_interface_names:
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- force.x
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- force.y
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- force.z
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- torque.x
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- torque.y
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- torque.z
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frame_id: $(var tf_prefix)tool0
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topic_name: ft_data
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joint_trajectory_controller:
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ros__parameters:
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joints:
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- $(var tf_prefix)shoulder_pan_joint
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- $(var tf_prefix)shoulder_lift_joint
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- $(var tf_prefix)elbow_joint
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- $(var tf_prefix)wrist_1_joint
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- $(var tf_prefix)wrist_2_joint
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- $(var tf_prefix)wrist_3_joint
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 100.0
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action_monitor_rate: 10.0
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allow_partial_joints_goal: false
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constraints:
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stopped_velocity_tolerance: 0.2
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goal_time: 5.0
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$(var tf_prefix)shoulder_pan_joint: { trajectory: 0.5, goal: 0.5 }
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$(var tf_prefix)shoulder_lift_joint: { trajectory: 0.5, goal: 0.5 }
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$(var tf_prefix)elbow_joint: { trajectory: 0.5, goal: 0.5 }
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$(var tf_prefix)wrist_1_joint: { trajectory: 0.5, goal: 0.5 }
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$(var tf_prefix)wrist_2_joint: { trajectory: 0.5, goal: 0.5 }
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$(var tf_prefix)wrist_3_joint: { trajectory: 0.5, goal: 0.5 }
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scaled_joint_trajectory_controller:
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ros__parameters:
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joints:
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- $(var tf_prefix)shoulder_pan_joint
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- $(var tf_prefix)shoulder_lift_joint
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- $(var tf_prefix)elbow_joint
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- $(var tf_prefix)wrist_1_joint
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- $(var tf_prefix)wrist_2_joint
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- $(var tf_prefix)wrist_3_joint
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 100.0
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action_monitor_rate: 10.0
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allow_partial_joints_goal: false
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constraints:
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stopped_velocity_tolerance: 0.2
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goal_time: 5.0
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$(var tf_prefix)shoulder_pan_joint: { trajectory: 0.5, goal: 0.5 }
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$(var tf_prefix)shoulder_lift_joint: { trajectory: 0.5, goal: 0.5 }
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$(var tf_prefix)elbow_joint: { trajectory: 0.5, goal: 0.5 }
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$(var tf_prefix)wrist_1_joint: { trajectory: 0.5, goal: 0.5 }
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$(var tf_prefix)wrist_2_joint: { trajectory: 0.5, goal: 0.5 }
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$(var tf_prefix)wrist_3_joint: { trajectory: 0.5, goal: 0.5 }
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speed_scaling_interface_name: $(var tf_prefix)speed_scaling/speed_scaling_factor
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passthrough_trajectory_controller:
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ros__parameters:
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tf_prefix: "$(var tf_prefix)"
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joints:
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- $(var tf_prefix)shoulder_pan_joint
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- $(var tf_prefix)shoulder_lift_joint
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- $(var tf_prefix)elbow_joint
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- $(var tf_prefix)wrist_1_joint
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- $(var tf_prefix)wrist_2_joint
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- $(var tf_prefix)wrist_3_joint
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state_interfaces:
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- position
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- velocity
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speed_scaling_interface_name: $(var tf_prefix)speed_scaling/speed_scaling_factor
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forward_velocity_controller:
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ros__parameters:
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joints:
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- $(var tf_prefix)shoulder_pan_joint
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- $(var tf_prefix)shoulder_lift_joint
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- $(var tf_prefix)elbow_joint
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- $(var tf_prefix)wrist_1_joint
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- $(var tf_prefix)wrist_2_joint
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- $(var tf_prefix)wrist_3_joint
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interface_name: velocity
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forward_position_controller:
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ros__parameters:
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joints:
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- $(var tf_prefix)shoulder_pan_joint
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- $(var tf_prefix)shoulder_lift_joint
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- $(var tf_prefix)elbow_joint
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- $(var tf_prefix)wrist_1_joint
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- $(var tf_prefix)wrist_2_joint
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- $(var tf_prefix)wrist_3_joint
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force_mode_controller:
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ros__parameters:
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tf_prefix: "$(var tf_prefix)"
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freedrive_mode_controller:
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ros__parameters:
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tf_prefix: "$(var tf_prefix)"
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tcp_pose_broadcaster:
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ros__parameters:
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frame_id: $(var tf_prefix)base
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pose_name: $(var tf_prefix)tcp_pose
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tf:
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child_frame_id: $(var tf_prefix)tool0_controller
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