controllers.yaml

controller_manager_ns: meka_controller_manager
controller_list:
  - name: r_arm_controller
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - right_arm_j0
      - right_arm_j1
      - right_arm_j2
      - right_arm_j3
      - right_arm_j4
      - right_arm_j5
      - right_arm_j6
  - name: r_hand_controller
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - palm_joint
      - right_hand_j0
      - right_hand_j1
      - right_hand_j2
      - right_hand_j3
      - right_hand_j4
      - right_hand_j5
      - right_hand_j6
      - right_hand_j7
      - right_hand_j8
      - right_hand_j9
      - right_hand_j10
      - right_hand_j11
  - name: l_arm_controller
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - left_arm_j0
      - left_arm_j1
      - left_arm_j2
      - left_arm_j3
      - left_arm_j4
      - left_arm_j5
      - left_arm_j6
  - name: l_hand_controller
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - l_palm_joint
      - left_hand_j0
      - left_hand_j1
      - left_hand_j2
      - left_hand_j3
      - left_hand_j4
      - left_hand_j5
      - left_hand_j6
      - left_hand_j7
      - left_hand_j8
      - left_hand_j9
      - left_hand_j10
      - left_hand_j11
  - name: head_controller
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - head_j1
      - head_j0
      - head_j2
  - name: zlift_controller
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - zlift_joint
      - chest_joint
  - name: omni_base_controller
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - base_joint
      - X
      - Y
      - yaw