added forward torque controller to config

lbr-stack · Dec 5, 2023 · 44e7e20 · 44e7e20
1 parent 5a09548
commit 44e7e20
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diff --git a/lbr_ros2_control/config/lbr_controllers.yaml b/lbr_ros2_control/config/lbr_controllers.yaml
@@ -26,6 +26,9 @@
     forward_lbr_position_command_controller:
       type: lbr_ros2_control/LBRForwardPositionCommandController
 
+    forward_lbr_torque_command_controller:
+      type: lbr_ros2_control/LBRForwardTorqueCommandController
+
 /**/lbr_estimated_ft_broadcaster:
   ros__parameters:
     damping: 0.2

diff --git a/lbr_ros2_control/lbr_forward_command_controllers.xml b/lbr_ros2_control/lbr_forward_command_controllers.xml
@@ -7,4 +7,12 @@
         <description>Forward command controller for LBRPositionCommand message, see
             lbr_fri_msgs/msg/LBRPositionCommand.msg.</description>
     </class>
+
+    <!-- LBR forward torque command controller plugin -->
+    <class name="lbr_ros2_control/LBRForwardTorqueCommandController"
+        type="lbr_ros2_control::LBRForwardTorqueCommandController"
+        base_class_type="controller_interface::ControllerInterface">
+        <description>Forward command controller for LBRTorqueCommand message, see
+            lbr_fri_msgs/msg/LBRTorqueCommand.msg.</description>
+    </class>
 </library>