From 8cb49d3a719e0dafb937f674c772c0c2769afd9f Mon Sep 17 00:00:00 2001 From: rickstaa Date: Mon, 4 Sep 2023 16:31:09 +0200 Subject: [PATCH] feat(franka_control): add example arm effort controller config file --- CHANGELOG.md | 1 + franka_control/config/arm_effort_controller.yaml | 12 ++++++++++++ 2 files changed, 13 insertions(+) create mode 100644 franka_control/config/arm_effort_controller.yaml diff --git a/CHANGELOG.md b/CHANGELOG.md index 353abc4b7..c0fda30c3 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -13,6 +13,7 @@ Requires `libfranka` >= 0.8.0 * `franka_gazebo`: `FrankaHWSim` only acts on joints belonging to a Franka robot. This allows to combine a Franka robot and others (like mobile platforms) in same URDF ([#313](https://github.com/frankaemika/franka_ros/issues/313)) * `franka_description`: `` macro now supports to customize the `parent` frame and its `xyz` + `rpy` offset * `franka_hw`: Fix the bug where the previous controller is still running after switching the controller. ([#326](https://github.com/frankaemika/franka_ros/issues/326)) + * `franka_control`: Add example arm effort controller config file ## 0.10.1 - 2022-09-15 diff --git a/franka_control/config/arm_effort_controller.yaml b/franka_control/config/arm_effort_controller.yaml new file mode 100644 index 000000000..61ff8f7c8 --- /dev/null +++ b/franka_control/config/arm_effort_controller.yaml @@ -0,0 +1,12 @@ +# Small arm effort controller example config file. +# NOTE: Joints are expected to be controlled as a group. +arm_effort_controller: + type: effort_controllers/JointGroupEffortController + joints: + - $(arg arm_id)_joint1 + - $(arg arm_id)_joint2 + - $(arg arm_id)_joint3 + - $(arg arm_id)_joint4 + - $(arg arm_id)_joint5 + - $(arg arm_id)_joint6 + - $(arg arm_id)_joint7