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Alexander Bubeck
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arm_controller:
type: robot_mechanism_controllers/JointTrajectoryActionController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
gains:
shoulder_pan_joint:
p: 2000.0
d: 0.0
shoulder_lift_joint:
p: 2000.0
d: 0.0
elbow_joint:
p: 2000.0
d: 0.0
wrist_1_joint:
p: 2020.0
d: 0.0
wrist_2_joint:
p: 2030.0
d: 0.0
wrist_3_joint:
p: 2050.0
d: 0.0
arm_joint_trajectory_action_node:
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
constraints:
goal_time: 0.6
shoulder_pan_joint:
goal: 0.05
shoulder_lift_joint:
goal: 0.05
elbow_joint:
goal: 0.05
wrist_1_joint:
goal: 0.05
wrist_2_joint:
goal: 0.05
wrist_3_joint:
goal: 0.05