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Commit bfb70066 authored by Paul Rouanet's avatar Paul Rouanet
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Add state interface kp and kd

parent d7be1dc6
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ros2_description_bolt/urdf/bolt/ros2_control/system_bolt.ros2_control.xacro
View file @ bfb70066
......@@ -45,6 +45,8 @@
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">0</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -71,7 +73,9 @@
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>*
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">3</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -99,6 +103,8 @@
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">2</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -126,6 +132,8 @@
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">1</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -153,6 +161,8 @@
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">5</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -176,6 +186,8 @@
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">4</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......
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