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- # Simulation settings for using moveit_sim_controllers
- moveit_sim_hw_interface:
- joint_model_group: arm1
- joint_model_group_pose: arm1up
- # Settings for ros_control_boilerplate control loop
- generic_hw_control_loop:
- loop_hz: 300
- cycle_time_error_threshold: 0.01
- # Settings for ros_control hardware interface
- hardware_interface:
- joints:
- - panda_1_joint1
- - panda_1_joint2
- - panda_1_joint3
- - panda_1_joint4
- - panda_1_joint5
- - panda_1_joint6
- - panda_1_joint7
- - panda_1_finger_joint1
- - robot2_shoulder_pan_joint
- - robot2_shoulder_lift_joint
- - robot2_elbow_joint
- - robot2_wrist_1_joint
- - robot2_wrist_2_joint
- - robot2_wrist_3_joint
- - left2_gripper_joint
- - right2_gripper_joint
- - robot3_shoulder_pan_joint
- - robot3_shoulder_lift_joint
- - robot3_elbow_joint
- - robot3_wrist_1_joint
- - robot3_wrist_2_joint
- - robot3_wrist_3_joint
- - left3_gripper_joint
- - right_gripper_joint
- sim_control_mode: 1 # 0: position, 1: velocity
- # Publish all joint states
- # Creates the /joint_states topic necessary in ROS
- joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 50
- controller_list:
- - name: arm1_controller
- action_ns: follow_joint_trajectory
- default: True
- type: FollowJointTrajectory
- joints:
- - panda_1_joint1
- - panda_1_joint2
- - panda_1_joint3
- - panda_1_joint4
- - panda_1_joint5
- - panda_1_joint6
- - panda_1_joint7
- - name: arm1_hand_controller
- action_ns: follow_joint_trajectory
- default: True
- type: FollowJointTrajectory
- joints:
- - panda_1_finger_joint1
- - panda_1_finger_joint2
- - name: arm2_controller
- action_ns: follow_joint_trajectory
- default: True
- type: FollowJointTrajectory
- joints:
- - robot2_shoulder_pan_joint
- - robot2_shoulder_lift_joint
- - robot2_elbow_joint
- - robot2_wrist_1_joint
- - robot2_wrist_2_joint
- - robot2_wrist_3_joint
- - name: arm2_hand_controller
- action_ns: follow_joint_trajectory
- default: True
- type: FollowJointTrajectory
- joints:
- - left2_gripper_joint
- - right2_gripper_joint
- - name: arm3_controller
- action_ns: follow_joint_trajectory
- default: True
- type: FollowJointTrajectory
- joints:
- - robot3_shoulder_pan_joint
- - robot3_shoulder_lift_joint
- - robot3_elbow_joint
- - robot3_wrist_1_joint
- - robot3_wrist_2_joint
- - robot3_wrist_3_joint
- - name: arm3_hand_controller
- action_ns: follow_joint_trajectory
- default: True
- type: FollowJointTrajectory
- joints:
- - left3_gripper_joint
- - right_gripper_joint
- arm1_controller:
- type: effort_controllers/JointTrajectoryController
- joints:
- - panda_1_joint1
- - panda_1_joint2
- - panda_1_joint3
- - panda_1_joint4
- - panda_1_joint5
- - panda_1_joint6
- - panda_1_joint7
- gains:
- panda_1_joint1:
- p: 19000
- d: 10
- i: 1
- i_clamp: 1
- panda_1_joint2:
- p: 19000
- d: 10
- i: 1
- i_clamp: 1
- panda_1_joint3:
- p: 19000
- d: 10
- i: 1
- i_clamp: 1
- panda_1_joint4:
- p: 19000
- d: 10
- i: 1
- i_clamp: 1
- panda_1_joint5:
- p: 12000
- d: 10
- i: 1
- i_clamp: 1
- panda_1_joint6:
- p: 10000
- d: 10
- i: 1
- i_clamp: 1
- panda_1_joint7:
- p: 8000
- d: 10
- i: 1
- i_clamp: 1
- arm1_hand_controller:
- type: effort_controllers/JointTrajectoryController
- joints:
- - panda_1_finger_joint1
- - panda_1_finger_joint2
- gains:
- panda_1_finger_joint1:
- p: 100
- d: 1
- i: 1
- i_clamp: 1
- panda_1_finger_joint2:
- p: 100
- d: 1
- i: 1
- i_clamp: 1
- arm2_controller:
- type: effort_controllers/JointTrajectoryController
- joints:
- - robot2_shoulder_pan_joint
- - robot2_shoulder_lift_joint
- - robot2_elbow_joint
- - robot2_wrist_1_joint
- - robot2_wrist_2_joint
- - robot2_wrist_3_joint
- gains:
- robot2_shoulder_pan_joint:
- p: 19000
- d: 10
- i: 1
- i_clamp: 1
- robot2_shoulder_lift_joint:
- p: 19000
- d: 10
- i: 1
- i_clamp: 1
- robot2_elbow_joint:
- p: 19000
- d: 10
- i: 1
- i_clamp: 1
- robot2_wrist_1_joint:
- p: 12000
- d: 10
- i: 1
- i_clamp: 1
- robot2_wrist_2_joint:
- p: 10000
- d: 10
- i: 1
- i_clamp: 1
- robot2_wrist_3_joint:
- p: 8000
- d: 100
- i: 1
- i_clamp: 1
- arm2_hand_controller:
- type: effort_controllers/JointTrajectoryController
- joints:
- - left2_gripper_joint
- - right2_gripper_joint
- gains:
- left2_gripper_joint:
- p: 100
- d: 1
- i: 1
- i_clamp: 1
- right2_gripper_joint:
- p: 100
- d: 1
- i: 1
- i_clamp: 1
- arm3_controller:
- type: effort_controllers/JointTrajectoryController
- joints:
- - robot3_shoulder_pan_joint
- - robot3_shoulder_lift_joint
- - robot3_elbow_joint
- - robot3_wrist_1_joint
- - robot3_wrist_2_joint
- - robot3_wrist_3_joint
- gains:
- robot3_shoulder_pan_joint:
- p: 19000
- d: 1
- i: 1
- i_clamp: 1
- robot3_shoulder_lift_joint:
- p: 19000
- d: 1
- i: 1
- i_clamp: 1
- robot3_elbow_joint:
- p: 19000
- d: 1
- i: 1
- i_clamp: 1
- robot3_wrist_1_joint:
- p: 12000
- d: 1
- i: 1
- i_clamp: 1
- robot3_wrist_2_joint:
- p: 10000
- d: 1
- i: 1
- i_clamp: 1
- robot3_wrist_3_joint:
- p: 8000
- d: 1
- i: 1
- i_clamp: 1
- arm3_hand_controller:
- type: effort_controllers/JointTrajectoryController
- joints:
- - left3_gripper_joint
- - right_gripper_joint
- gains:
- left3_gripper_joint:
- p: 100
- d: 1
- i: 1
- i_clamp: 1
- right_gripper_joint:
- p: 100
- d: 1
- i: 1
- i_clamp: 1
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