Obbart/universal_robots_ros_driver
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Adding JointGroupVelocityControllers (#224)

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* Adding JointGroupVelocityControllers.

* Correction re. ros_control in Readme. Add velocity_controllers dependency.
This commit is contained in:
AndyZe
2018-11-01 11:12:29 -05:00
committed by G.A. vd. Hoorn
parent 0a5ed0fbda
commit fb9dba2f10
8 changed files with 37 additions and 5 deletions
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11
config/ur3_controllers.yaml
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@@ -94,3 +94,14 @@ vel_based_pos_traj_controller:
# state_publish_rate: 50 # Defaults to 50
# action_monitor_rate: 20 # Defaults to 20
#hold_trajectory_duration: 0 # Defaults to 0.5
# Pass an array of joint velocities directly to the joints
joint_group_vel_controller:
type: velocity_controllers/JointGroupVelocityController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint