Obbart/universal_robots_ros_driver
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rtde_driver: don't unnecessarily repeat joint names.

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Use an anchor for the list and aliases where needed.
This commit is contained in:
gavanderhoorn
2019-07-14 15:05:21 +02:00
parent c714759413
commit 513ff9143d
6 changed files with 18 additions and 90 deletions
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18
ur_rtde_driver/config/ur3_controllers.yaml
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@@ -4,7 +4,7 @@ hardware_control_loop:
# Settings for ros_control hardware interface
hardware_interface:
joints:
joints: &robot_joints
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
@@ -31,13 +31,7 @@ speed_scaling_state_controller:
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
scaled_pos_traj_controller:
type: position_controllers/ScaledJointTrajectoryController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
@@ -53,13 +47,7 @@ scaled_pos_traj_controller:
pos_traj_controller:
type: position_controllers/JointTrajectoryController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
joints: *robot_joints
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05