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Commit d7be1dc6 authored by Paul Rouanet's avatar Paul Rouanet
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Add command interface kp and kd

parent b3cffa6e
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ros2_description_bolt/urdf/bolt/ros2_control/system_bolt.ros2_control.xacro
View file @ d7be1dc6
...@@ -40,6 +40,8 @@ ...@@ -40,6 +40,8 @@
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface> </command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/> <state_interface name="acceleration"/>
...@@ -65,6 +67,8 @@ ...@@ -65,6 +67,8 @@
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface> </command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/>* <state_interface name="acceleration"/>*
...@@ -90,6 +94,8 @@ ...@@ -90,6 +94,8 @@
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface> </command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/> <state_interface name="acceleration"/>
...@@ -115,6 +121,8 @@ ...@@ -115,6 +121,8 @@
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface> </command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/> <state_interface name="acceleration"/>
...@@ -140,6 +148,8 @@ ...@@ -140,6 +148,8 @@
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface> </command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/> <state_interface name="acceleration"/>
...@@ -160,6 +170,9 @@ ...@@ -160,6 +170,9 @@
<command_interface name="velocity"> <command_interface name="velocity">
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/> <state_interface name="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/> <state_interface name="acceleration"/>
......
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