Commit d7be1dc6 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Add command interface kp and kd

parent b3cffa6e
......@@ -40,6 +40,8 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
......@@ -65,6 +67,8 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>*
......@@ -90,6 +94,8 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
......@@ -115,6 +121,8 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
......@@ -140,6 +148,8 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
......@@ -160,6 +170,9 @@
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
......
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