flexiv_ros2/flexiv_bringup/config/aico2_10_v1_controllers.yaml at f93106932c50b343ceb5f1f487366ec0f61816bf · flexivrobotics/flexiv_ros2 · GitHub

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controller_manager:
  ros__parameters:
    update_rate: 1000  # Hz

    left_rizon_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    right_rizon_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    gpio_controller_left:
      type: gpio_controller/GPIOController

    gpio_controller_right:
      type: gpio_controller/GPIOController

    flexiv_robot_states_broadcaster_left:
      type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster

    flexiv_robot_states_broadcaster_right:
      type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster

left_rizon_arm_controller:
  ros__parameters:
    joints:
      - $(var external_axis_prefix)aico2_10_v1_joint1
      - $(var external_axis_prefix)aico2_10_v1_joint2
      - $(var prefix_left)joint1
      - $(var prefix_left)joint2
      - $(var prefix_left)joint3
      - $(var prefix_left)joint4
      - $(var prefix_left)joint5
      - $(var prefix_left)joint6
      - $(var prefix_left)joint7
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
    state_publish_rate: 100.0
    action_monitor_rate: 20.0
    allow_partial_joints_goal: true
    constraints:
      stopped_velocity_tolerance: 0.01
      goal_time: 0.0

right_rizon_arm_controller:
  ros__parameters:
    joints:
      - $(var prefix_right)joint1
      - $(var prefix_right)joint2
      - $(var prefix_right)joint3
      - $(var prefix_right)joint4
      - $(var prefix_right)joint5
      - $(var prefix_right)joint6
      - $(var prefix_right)joint7
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
    state_publish_rate: 100.0
    action_monitor_rate: 20.0
    allow_partial_joints_goal: false
    constraints:
      stopped_velocity_tolerance: 0.01
      goal_time: 0.0

flexiv_robot_states_broadcaster_left:
  ros__parameters:
    robot_sn: left_$(var robot_sn_left)

flexiv_robot_states_broadcaster_right:
  ros__parameters:
    robot_sn: right_$(var robot_sn_right)

gpio_controller_left:
  ros__parameters:
    robot_sn: left_$(var robot_sn_left)

gpio_controller_right:
  ros__parameters:
    robot_sn: right_$(var robot_sn_right)