mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-02-11 09:20:40 +00:00
27 lines
683 B
YAML
27 lines
683 B
YAML
# 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 |