Add pr2 settings

tork-a · Aug 16, 2018 · d58e8a1 · d58e8a1
1 parent c74f1cb
commit d58e8a1
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Showing 4 changed files with 454 additions and 15 deletions.
diff --git a/fake_joint_launch/config/pr2_controllers.yaml b/fake_joint_launch/config/pr2_controllers.yaml
@@ -0,0 +1,36 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+
+r_arm_controller:
+  type: position_controllers/JointTrajectoryController
+  joints:
+    - r_shoulder_pan_joint
+    - r_shoulder_lift_joint
+    - r_upper_arm_roll_joint
+    - r_elbow_flex_joint
+    - r_forearm_roll_joint
+    - r_wrist_flex_joint
+    - r_wrist_roll_joint
+
+l_arm_controller:
+  type: position_controllers/JointTrajectoryController
+  joints:
+    - l_shoulder_pan_joint
+    - l_shoulder_lift_joint
+    - l_upper_arm_roll_joint
+    - l_elbow_flex_joint
+    - l_forearm_roll_joint
+    - l_wrist_flex_joint
+    - l_wrist_roll_joint
+
+torso_controller:
+  type: position_controllers/JointTrajectoryController
+  joints:
+    - torso_lift_joint
+
+head_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints:
+    - head_tilt_joint
+    - head_pan_joint