From 55a29deb910151f4b757d2d9a28b5f30c59a6250 Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Wed, 13 Jul 2016 17:44:06 +0200
Subject: [PATCH] Added joint trajectory controller config

---
 .../config/joint_trajectory_controllers.yaml  | 53 +++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 tor_controller_configuration/config/joint_trajectory_controllers.yaml

diff --git a/tor_controller_configuration/config/joint_trajectory_controllers.yaml b/tor_controller_configuration/config/joint_trajectory_controllers.yaml
new file mode 100644
index 0000000..fbdd8e0
--- /dev/null
+++ b/tor_controller_configuration/config/joint_trajectory_controllers.yaml
@@ -0,0 +1,53 @@
+left_leg_controller:
+  type: "position_controllers/JointTrajectoryController"
+  joints:
+    - leg_left_1_joint
+    - leg_left_2_joint
+    - leg_left_3_joint
+    - leg_left_4_joint
+    - leg_left_5_joint
+    - leg_left_6_joint
+  constraints:
+    goal_time: &goal_time_constraint 0.6
+    stopped_velocity_tolerance: *stopped_velocity_constraint
+    arm_left_1_joint:
+      goal: &goal_pos_constraint 0.02
+    arm_left_2_joint:
+      goal: *goal_pos_constraint
+    arm_left_3_joint:
+      goal: *goal_pos_constraint
+    arm_left_4_joint:
+      goal: *goal_pos_constraint
+    arm_left_5_joint:
+      goal: *goal_pos_constraint
+    arm_left_6_joint:
+      goal: *goal_pos_constraint
+
+  stop_trajectory_duration: 0.0
+
+right_leg_controller:
+  type: "position_controllers/JointTrajectoryController"
+  joints:
+    - leg_right_1_joint
+    - leg_right_2_joint
+    - leg_right_3_joint
+    - leg_right_4_joint
+    - leg_right_5_joint
+    - leg_right_6_joint
+  constraints:
+    goal_time: *goal_time_constraint
+    stopped_velocity_tolerance: *stopped_velocity_constraint
+    arm_right_1_joint:
+      goal: *goal_pos_constraint
+    arm_right_2_joint:
+      goal: *goal_pos_constraint
+    arm_right_3_joint:
+      goal: *goal_pos_constraint
+    arm_right_4_joint:
+      goal: *goal_pos_constraint
+    arm_right_5_joint:
+      goal: *goal_pos_constraint
+    arm_right_6_joint:
+      goal: *goal_pos_constraint
+
+  stop_trajectory_duration: 0.0
-- 
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