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kuka_control.yaml

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Oct 2nd, 2017
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  1. kuka_kr3:
  2.   # Publish all joint states -----------------------------------
  3.   joint_state_controller:
  4.     type: joint_state_controller/JointStateController
  5.     publish_rate: 50  
  6.  
  7.   # Trajectory Controllers ---------------------------------------
  8.   joint_trajectory_controller:
  9.     type: effort_controllers/JointTrajectoryController
  10.     joints:
  11.      - Kuka_kr3__base_revolute
  12.      - Kuka_kr3__first_rotation
  13.      - Kuka_kr3__second_rotation
  14.      - Kuka_kr3__third_rotation
  15.      - Kuka_kr3__fourth_rotation
  16.      - Kuka_kr3__fifth_rotation
  17.     gains:
  18.         Kuka_kr3__base_revolute: {p: 100,  d: 1, i: 1, i_clamp: 1}
  19.         Kuka_kr3__first_rotation: {p: 100,  d: 1, i: 1, i_clamp: 1}
  20.         Kuka_kr3__second_rotation: {p: 100,  d: 1, i: 1, i_clamp: 1}
  21.         Kuka_kr3__third_rotation: {p: 100,  d: 1, i: 1, i_clamp: 1}
  22.         Kuka_kr3__fourth_rotation: {p: 100,  d: 1, i: 1, i_clamp: 1}
  23.         Kuka_kr3__fifth_rotation: {p: 100,  d: 1, i: 1, i_clamp: 1}
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