2024-09-09 22:18:19 +08:00
|
|
|
# Controller Manager configuration
|
|
|
|
|
controller_manager:
|
|
|
|
|
ros__parameters:
|
2024-09-14 17:54:39 +08:00
|
|
|
update_rate: 500 # Hz
|
2024-09-09 22:18:19 +08:00
|
|
|
|
|
|
|
|
# Define the available controllers
|
|
|
|
|
joint_state_broadcaster:
|
2024-09-14 11:41:38 +08:00
|
|
|
type: joint_state_broadcaster/JointStateBroadcaster
|
|
|
|
|
|
|
|
|
|
imu_sensor_broadcaster:
|
|
|
|
|
type: imu_sensor_broadcaster/IMUSensorBroadcaster
|
|
|
|
|
|
2024-09-14 17:54:39 +08:00
|
|
|
unitree_guide_controller:
|
|
|
|
|
type: unitree_guide_controller/UnitreeGuideController
|
|
|
|
|
|
2024-09-14 11:41:38 +08:00
|
|
|
imu_sensor_broadcaster:
|
|
|
|
|
ros__parameters:
|
|
|
|
|
sensor_name: "imu_sensor"
|
2024-09-14 17:54:39 +08:00
|
|
|
frame_id: "imu_link"
|
|
|
|
|
|
|
|
|
|
unitree_guide_controller:
|
|
|
|
|
ros__parameters:
|
|
|
|
|
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
|
