122 lines
2.4 KiB
YAML
122 lines
2.4 KiB
YAML
|
# Controller Manager configuration
|
||
|
|
controller_manager:
|
||
|
|
ros__parameters:
|
||
|
|
update_rate: 500 # Hz
|
||
|
|
|
||
|
|
# Define the available controllers
|
||
|
|
joint_state_broadcaster:
|
||
|
|
type: joint_state_broadcaster/JointStateBroadcaster
|
||
|
|
|
||
|
|
imu_sensor_broadcaster:
|
||
|
|
type: imu_sensor_broadcaster/IMUSensorBroadcaster
|
||
|
|
|
||
|
|
unitree_guide_controller:
|
||
|
|
type: unitree_guide_controller/UnitreeGuideController
|
||
|
|
|
||
|
|
ocs2_quadruped_controller:
|
||
|
|
type: ocs2_quadruped_controller/Ocs2QuadrupedController
|
||
|
|
|
||
|
|
imu_sensor_broadcaster:
|
||
|
|
ros__parameters:
|
||
|
|
sensor_name: "imu_sensor"
|
||
|
|
frame_id: "imu_link"
|
||
|
|
|
||
|
|
unitree_guide_controller:
|
||
|
|
ros__parameters:
|
||
|
|
update_rate: 500 # Hz
|
||
|
|
joints:
|
||
|
|
- FR_hip_joint
|
||
|
|
- FR_thigh_joint
|
||
|
|
- FR_calf_joint
|
||
|
|
- FL_hip_joint
|
||
|
|
- FL_thigh_joint
|
||
|
|
- FL_calf_joint
|
||
|
|
- RR_hip_joint
|
||
|
|
- RR_thigh_joint
|
||
|
|
- RR_calf_joint
|
||
|
|
- RL_hip_joint
|
||
|
|
- RL_thigh_joint
|
||
|
|
- RL_calf_joint
|
||
|
|
|
||
|
|
command_interfaces:
|
||
|
|
- effort
|
||
|
|
- position
|
||
|
|
- velocity
|
||
|
|
- kp
|
||
|
|
- kd
|
||
|
|
|
||
|
|
state_interfaces:
|
||
|
|
- effort
|
||
|
|
- position
|
||
|
|
- velocity
|
||
|
|
|
||
|
|
feet_names:
|
||
|
|
- FR_foot
|
||
|
|
- FL_foot
|
||
|
|
- RR_foot
|
||
|
|
- RL_foot
|
||
|
|
|
||
|
|
imu_name: "imu_sensor"
|
||
|
|
base_name: "base"
|
||
|
|
|
||
|
|
imu_interfaces:
|
||
|
|
- orientation.w
|
||
|
|
- orientation.x
|
||
|
|
- orientation.y
|
||
|
|
- orientation.z
|
||
|
|
- angular_velocity.x
|
||
|
|
- angular_velocity.y
|
||
|
|
- angular_velocity.z
|
||
|
|
- linear_acceleration.x
|
||
|
|
- linear_acceleration.y
|
||
|
|
- linear_acceleration.z
|
||
|
|
|
||
|
|
ocs2_quadruped_controller:
|
||
|
|
ros__parameters:
|
||
|
|
update_rate: 500 # Hz
|
||
|
|
joints:
|
||
|
|
- FR_hip_joint
|
||
|
|
- FR_thigh_joint
|
||
|
|
- FR_calf_joint
|
||
|
|
- FL_hip_joint
|
||
|
|
- FL_thigh_joint
|
||
|
|
- FL_calf_joint
|
||
|
|
- RR_hip_joint
|
||
|
|
- RR_thigh_joint
|
||
|
|
- RR_calf_joint
|
||
|
|
- RL_hip_joint
|
||
|
|
- RL_thigh_joint
|
||
|
|
- RL_calf_joint
|
||
|
|
|
||
|
|
command_interfaces:
|
||
|
|
- effort
|
||
|
|
- position
|
||
|
|
- velocity
|
||
|
|
- kp
|
||
|
|
- kd
|
||
|
|
|
||
|
|
state_interfaces:
|
||
|
|
- effort
|
||
|
|
- position
|
||
|
|
- velocity
|
||
|
|
|
||
|
|
feet_names:
|
||
|
|
- FR_foot
|
||
|
|
- FL_foot
|
||
|
|
- RR_foot
|
||
|
|
- RL_foot
|
||
|
|
|
||
|
|
imu_name: "imu_sensor"
|
||
|
|
base_name: "base"
|
||
|
|
|
||
|
|
imu_interfaces:
|
||
|
|
- orientation.w
|
||
|
|
- orientation.x
|
||
|
|
- orientation.y
|
||
|
|
- orientation.z
|
||
|
|
- angular_velocity.x
|
||
|
|
- angular_velocity.y
|
||
|
|
- angular_velocity.z
|
||
|
|
- linear_acceleration.x
|
||
|
|
- linear_acceleration.y
|
||
|
|
- linear_acceleration.z
|