Skip to content

Add cartesian_wrench controller to default_controllers.yaml #23

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: indigo-devel
Choose a base branch
from
Open

Add cartesian_wrench controller to default_controllers.yaml #23

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions fetch_bringup/config/default_controllers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,10 @@ arm_controller:
type: "robot_controllers/CartesianTwistController"
root_name: torso_lift_link
tip_name: wrist_roll_link
cartesian_wrench:
type: "robot_controllers/CartesianWrenchController"
root_name: torso_lift_link
tip_name: wrist_roll_link

arm_with_torso_controller:
follow_joint_trajectory:
Expand Down Expand Up @@ -64,6 +68,7 @@ robot_driver:
- "arm_controller/follow_joint_trajectory"
- "arm_controller/gravity_compensation"
- "arm_controller/cartesian_twist"
- "arm_controller/cartesian_wrench"
- "arm_with_torso_controller/follow_joint_trajectory"
- "base_controller"
- "head_controller/follow_joint_trajectory"
Expand Down