Commit 8a46900d authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Modif acceleration to effort

parent 90ff5697
......@@ -40,7 +40,7 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="acceleration">
<command_interface name="effort">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
......@@ -54,7 +54,7 @@
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="effort"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">0</param>
......@@ -75,7 +75,7 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="acceleration">
<command_interface name="effort">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
......@@ -89,7 +89,7 @@
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="effort"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">3</param>
......@@ -110,7 +110,7 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="acceleration">
<command_interface name="effort">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
......@@ -124,7 +124,7 @@
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="effort"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">2</param>
......@@ -145,7 +145,7 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="acceleration">
<command_interface name="effort">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
......@@ -159,7 +159,7 @@
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="effort"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">1</param>
......@@ -180,7 +180,7 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="acceleration">
<command_interface name="effort">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
......@@ -194,7 +194,7 @@
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="effort"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">5</param>
......@@ -215,7 +215,7 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="acceleration">
<command_interface name="effort">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
......@@ -229,7 +229,7 @@
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="effort"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">4</param>
......
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