85 lines
1.5 KiB
YAML
85 lines
1.5 KiB
YAML
# Controller Manager configuration
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controller_manager:
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ros__parameters:
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update_rate: 500 # 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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imu_sensor_broadcaster:
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ros__parameters:
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sensor_name: "imu_sensor"
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frame_id: "imu_sensor"
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leg_pd_controller:
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ros__parameters:
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update_rate: 500 # Hz
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joints:
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- RF_HAA
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- RH_HFE
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- RF_KFE
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- LF_HAA
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- LF_HFE
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- LF_KFE
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- RH_HAA
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- RH_HFE
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- RH_KFE
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- LH_HAA
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- LH_HFE
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- LH_KFE
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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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joints:
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- RF_HAA
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- RH_HFE
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- RF_KFE
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- LF_HAA
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- LF_HFE
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- LF_KFE
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- RH_HAA
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- RH_HFE
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- RH_KFE
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- LH_HAA
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- LH_HFE
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- LH_KFE
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command_interfaces:
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- torque
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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 |