From 390ac91675d67ebc4f20962769d688e1c5df5b62 Mon Sep 17 00:00:00 2001 From: mike <mikeblautman@gmail.com> Date: Tue, 27 Mar 2018 11:08:22 -0600 Subject: [PATCH] controller manager --- config/controllers.yaml | 20 +++++++++++++++++++ ...panda_moveit_controller_manager.launch.xml | 10 +++++++--- 2 files changed, 27 insertions(+), 3 deletions(-) create mode 100644 config/controllers.yaml diff --git a/config/controllers.yaml b/config/controllers.yaml new file mode 100644 index 0000000..610b0af --- /dev/null +++ b/config/controllers.yaml @@ -0,0 +1,20 @@ + controller_list: + - name: panda_arm_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - panda_joint1 + - panda_joint2 + - panda_joint3 + - panda_joint4 + - panda_joint5 + - panda_joint6 + - panda_joint7 + - name: hand_controller + action_ns: gripper_action + type: GripperCommand + default: true + joints: + - panda_finger_joint1 + - panda_finger_joint2 diff --git a/launch/panda_moveit_controller_manager.launch.xml b/launch/panda_moveit_controller_manager.launch.xml index 5d02698..ffbf1a2 100644 --- a/launch/panda_moveit_controller_manager.launch.xml +++ b/launch/panda_moveit_controller_manager.launch.xml @@ -1,3 +1,7 @@ -<launch> - -</launch> + <launch> + <!-- Set the param that trajectory_execution_manager needs to find the controller plugin --> + <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" /> + <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> + <!-- load controller_list --> + <rosparam file="$(find panda_moveit_config)/config/controllers.yaml"/> + </launch> -- GitLab