143 lines
2.8 KiB
YAML
143 lines
2.8 KiB
YAML
# Controller Manager configuration
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controller_manager:
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ros__parameters:
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update_rate: 2000 # Hz
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# Define the available controllers
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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imu_sensor_broadcaster:
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type: imu_sensor_broadcaster/IMUSensorBroadcaster
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leg_pd_controller:
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type: leg_pd_controller/LegPdController
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unitree_guide_controller:
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type: unitree_guide_controller/UnitreeGuideController
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rl_quadruped_controller:
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type: rl_quadruped_controller/LeggedGymController
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imu_sensor_broadcaster:
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ros__parameters:
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sensor_name: "imu_sensor"
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frame_id: "imu_link"
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leg_pd_controller:
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ros__parameters:
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joints:
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- FR_HipX
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- FR_HipY
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- FR_Knee
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- FL_HipX
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- FL_HipY
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- FL_Knee
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- HR_HipX
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- HR_HipY
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- HR_Knee
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- HL_HipX
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- HL_HipY
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- HL_Knee
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command_interfaces:
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- effort
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state_interfaces:
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- position
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- velocity
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unitree_guide_controller:
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ros__parameters:
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update_rate: 200 # Hz
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command_prefix: "leg_pd_controller"
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joints:
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- FR_HipX
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- FR_HipY
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- FR_Knee
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- FL_HipX
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- FL_HipY
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- FL_Knee
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- HR_HipX
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- HR_HipY
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- HR_Knee
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- HL_HipX
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- HL_HipY
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- HL_Knee
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command_interfaces:
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- effort
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- position
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- velocity
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- kp
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- kd
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state_interfaces:
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- effort
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- position
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- velocity
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feet_names:
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- FR_FOOT
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- FL_FOOT
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- HR_FOOT
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- HL_FOOT
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imu_name: "imu_sensor"
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base_name: "base"
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imu_interfaces:
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- orientation.w
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- orientation.x
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- orientation.y
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- orientation.z
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- angular_velocity.x
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- angular_velocity.y
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- angular_velocity.z
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- linear_acceleration.x
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- linear_acceleration.y
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- linear_acceleration.z
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rl_quadruped_controller:
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ros__parameters:
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update_rate: 200 # Hz
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config_folder: "/home/tlab-uav/ros2_ws/install/a1_description/share/a1_description/config/issacgym"
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command_prefix: "leg_pd_controller"
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joints:
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- FL_hip_joint
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- FL_thigh_joint
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- FL_calf_joint
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- FR_hip_joint
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- FR_thigh_joint
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- FR_calf_joint
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- RL_hip_joint
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- RL_thigh_joint
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- RL_calf_joint
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- RR_hip_joint
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- RR_thigh_joint
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- RR_calf_joint
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command_interfaces:
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- effort
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- position
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- velocity
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- kp
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- kd
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state_interfaces:
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- effort
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- position
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- velocity
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imu_name: "imu_sensor"
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imu_interfaces:
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- orientation.w
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- orientation.x
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- orientation.y
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- orientation.z
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- angular_velocity.x
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- angular_velocity.y
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- angular_velocity.z
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- linear_acceleration.x
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- linear_acceleration.y
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- linear_acceleration.z |