quadruped_ros2_control/descriptions/go2_description/config/robot_control.yaml

# Controller Manager configuration
controller_manager:
  ros__parameters:
    update_rate: 50  # Hz
    use_sim_time: true  # If running in simulation

    # Define the available controllers
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
init commit 2024-09-09 22:18:19 +08:00			`# Controller Manager configuration`
			`controller_manager:`
			`ros__parameters:`
achieved passive mode on unitree simulation 2024-09-10 22:30:30 +08:00			`update_rate: 50 # Hz`
init commit 2024-09-09 22:18:19 +08:00			`use_sim_time: true # If running in simulation`

			`# Define the available controllers`
			`joint_state_broadcaster:`
			`type: joint_state_broadcaster/JointStateBroadcaster`