Revision history [back]

Here is a working example from my robot. This is the arm section of the robot's ctrlr_params.yaml file:

arm_ctrlr:
  type: position_controllers/JointTrajectoryController
  joints:
    - arm_base_joint
    - shoulder_joint
    - elbow_joint
    - wrist_roll_joint
    - wrist_pitch_joint
    - wrist_yaw_joint
  stop_trajectory_duration: 0.1
  state_publish_rate: 1.0

Here is the transmission definition for arm_base_joint from the robot's URDF file:

  <transmission name="arm_base_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="arm_base_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="arm_base_act">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>