feat: add moveit2 configuration

2026-02-11 17:30:36 +00:00 · 2025-08-19 11:38:05 -05:00
parent c0d39aa3a6
commit bb2dda02a2
24 changed files with 542 additions and 25 deletions
--- a/src/astra_arm_moveit_config/config/moveit_controllers.yaml
+++ b/src/astra_arm_moveit_config/config/moveit_controllers.yaml
@@ -0,0 +1,27 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - astra_arm_controller
+    - hand_controller
+
+  astra_arm_controller:
+    type: FollowJointTrajectory
+    joints:
+      - Axis_0_Joint
+      - Axis_1_Joint
+      - Axis_2_Joint
+      - Axis_3_Joint
+      - Wrist_Differential_Joint
+    action_ns: follow_joint_trajectory
+    default: true
+  hand_controller:
+    type: GripperCommand
+    joints:
+      - Wrist-EF_Roll_Joint
+      - Gripper_Slider_Left
+      - Gripper _Slider_Right
+    action_ns: gripper_cmd
+    default: true