mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 18:10:47 +02:00
cb64e68100
This way, users can choose whether they want to use non-scaled controllers as used by older drivers.
75 lines
2.3 KiB
YAML
75 lines
2.3 KiB
YAML
# Settings for ros_control control loop
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hardware_control_loop:
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loop_hz: 125
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# Settings for ros_control hardware interface
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hardware_interface:
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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# Publish all joint states ----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 125
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# Publish wrench ----------------------------------
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force_torque_sensor_controller:
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type: force_torque_sensor_controller/ForceTorqueSensorController
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publish_rate: 125
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# Publish speed_scaling factor
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speed_scaling_state_controller:
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type: ur_controllers/SpeedScalingStateController
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publish_rate: 125
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# Joint Trajectory Controller - position based -------------------------------
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# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
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scaled_pos_traj_controller:
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type: position_controllers/ScaledJointTrajectoryController
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
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elbow_joint: {trajectory: 0.2, goal: 0.1}
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wrist_1_joint: {trajectory: 0.2, goal: 0.1}
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wrist_2_joint: {trajectory: 0.2, goal: 0.1}
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wrist_3_joint: {trajectory: 0.2, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: 500
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action_monitor_rate: 10
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pos_traj_controller:
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type: position_controllers/JointTrajectoryController
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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constraints:
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goal_time: 0.6
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stopped_velocity_tolerance: 0.05
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shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
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shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
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elbow_joint: {trajectory: 0.2, goal: 0.1}
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wrist_1_joint: {trajectory: 0.2, goal: 0.1}
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wrist_2_joint: {trajectory: 0.2, goal: 0.1}
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wrist_3_joint: {trajectory: 0.2, goal: 0.1}
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stop_trajectory_duration: 0.5
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state_publish_rate: 500
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action_monitor_rate: 10
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