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rrbot_controllers.yaml
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rrbot_controllers.yaml
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controller_manager:
ros__parameters:
update_rate: 10 # Hz
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
forward_position_controller:
type: forward_command_controller/ForwardCommandController
position_trajectory_controller:
type: joint_trajectory_controller/JointTrajectoryController
forward_position_controller:
ros__parameters:
joints:
- joint1
- joint2
interface_name: position
position_trajectory_controller:
ros__parameters:
joints:
- joint1
- joint2
command_interfaces:
- position
state_interfaces:
- position
state_publish_rate: 200.0 # Defaults to 50
action_monitor_rate: 20.0 # Defaults to 20
allow_partial_joints_goal: false # Defaults to false
open_loop_control: true
allow_integration_in_goal_trajectories: true
constraints:
stopped_velocity_tolerance: 0.01 # Defaults to 0.01
goal_time: 0.0 # Defaults to 0.0 (start immediately)