ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A answers.ros.org |
![]() | 1 | initial version |
The issue was that I was not using the controller files correctly. Of the the three files that were posted above, I used the last two.
The following file is called controllers.yaml:
controller_list:
- name: arm
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- plat_joint
- shoulder_joint
- forearm_joint
- wrist_joint
Is utilized when the .launch file is run while the controllers1.yaml file is run by ros_controllers.launch:
joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 100 # Position Controllers ---------------------------------------
arm: type: effort_controllers/JointTrajectoryController joints: - plat_joint - shoulder_joint - forearm_joint - wrist_joint
state_publish_rate: 100
gains: plat_joint: {p: 100, i: 0.0, d: 0} shoulder_joint: {p: 100, i: 0.0, d: 0} forearm_joint: {p: 100, i: 0.0, d: 0} wrist_joint: {p: 100, i: 0.0, d: 0}
![]() | 2 | No.2 Revision |
The issue was that I was not using the controller files correctly. Of the the three files that were posted above, I used the last two.
The following file is called controllers.yaml:
controller_list:
- name: arm
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- plat_joint
- shoulder_joint
- forearm_joint
- wrist_joint
Is utilized when the .launch file is run while the controllers1.yaml file is run by ros_controllers.launch:
#
Publish all joint states My git
![]() | 3 | No.3 Revision |
The issue was that I was not using the controller files correctly. Of the the three files that were posted above, I used the last two.
The following file is called controllers.yaml:
controller_list:
- name: arm
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- plat_joint
- shoulder_joint
- forearm_joint
- wrist_joint
Is utilized when the .launch file is run while the controllers1.yaml file is run by ros_controllers.launch:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 100
# Position Controllers ---------------------------------------
# Control all joints
arm:
type: effort_controllers/JointTrajectoryController
joints:
- plat_joint
- shoulder_joint
- forearm_joint
- wrist_joint
state_publish_rate: 100
gains:
plat_joint: {p: 100, i: 0.0, d: 0}
shoulder_joint: {p: 100, i: 0.0, d: 0}
forearm_joint: {p: 100, i: 0.0, d: 0}
wrist_joint: {p: 100, i: 0.0, d: 0}
The names of the controllers above ('arm' and 'joint_state_controller') must be referenced in the file that launches this yaml file (ros_controllers.launch).
My git