rrbot_gazebo_forward_controller_position.yaml 374 Bytes
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controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    joint_trajectory_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

joint_trajectory_controller:
  ros__parameters:
    joints:
      - joint1
      - joint2
    interface_name: position