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spot_default_controllers_without_arm.yaml
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# Some built in controllers, taken from
# https://github.com/ros-controls/roscon2022_workshop/blob/master/controlko_bringup/config/rrbot_controllers.yaml
controller_manager:
ros__parameters:
update_rate: 333 # Hz
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
forward_position_controller:
type: forward_command_controller/ForwardCommandController
forward_state_controller:
type: spot_controllers/ForwardStateController
forward_position_controller:
ros__parameters:
joints:
- front_left_hip_x
- front_left_hip_y
- front_left_knee
- front_right_hip_x
- front_right_hip_y
- front_right_knee
- rear_left_hip_x
- rear_left_hip_y
- rear_left_knee
- rear_right_hip_x
- rear_right_hip_y
- rear_right_knee
interface_name: position
forward_state_controller:
ros__parameters:
joints:
- front_left_hip_x
- front_left_hip_y
- front_left_knee
- front_right_hip_x
- front_right_hip_y
- front_right_knee
- rear_left_hip_x
- rear_left_hip_y
- rear_left_knee
- rear_right_hip_x
- rear_right_hip_y
- rear_right_knee
interface_names:
- position
- velocity
- effort