kuka_control.yaml

kuka_kr3:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

  # Trajectory Controllers ---------------------------------------
  joint_trajectory_controller:
    type: effort_controllers/JointTrajectoryController
    joints:
     - Kuka_kr3__base_revolute
     - Kuka_kr3__first_rotation
     - Kuka_kr3__second_rotation
     - Kuka_kr3__third_rotation
     - Kuka_kr3__fourth_rotation
     - Kuka_kr3__fifth_rotation
    gains:
        Kuka_kr3__base_revolute: {p: 100,  d: 1, i: 1, i_clamp: 1}
        Kuka_kr3__first_rotation: {p: 100,  d: 1, i: 1, i_clamp: 1}
        Kuka_kr3__second_rotation: {p: 100,  d: 1, i: 1, i_clamp: 1}
        Kuka_kr3__third_rotation: {p: 100,  d: 1, i: 1, i_clamp: 1}
        Kuka_kr3__fourth_rotation: {p: 100,  d: 1, i: 1, i_clamp: 1}
        Kuka_kr3__fifth_rotation: {p: 100,  d: 1, i: 1, i_clamp: 1}