159 lines
3.1 KiB
YAML
159 lines
3.1 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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#
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# unitree_guide_controller:
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# type: unitree_guide_controller/UnitreeGuideController
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ocs2_quadruped_controller:
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type: ocs2_quadruped_controller/Ocs2QuadrupedController
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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_abad_joint
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# - FR_hip_joint
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# - FR_knee_joint
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# - FL_abad_joint
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# - FL_hip_joint
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# - FL_knee_joint
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# - RR_abad_joint
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# - RR_hip_joint
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# - RR_knee_joint
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# - RL_abad_joint
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# - RL_hip_joint
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# - RL_knee_joint
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#
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# command_interfaces:
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# - effort
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#
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# state_interfaces:
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# - position
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# - velocity
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#
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#unitree_guide_controller:
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# ros__parameters:
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# command_prefix: "leg_pd_controller"
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# joints:
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# - FR_abad_joint
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# - FR_hip_joint
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# - FR_knee_joint
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# - FL_abad_joint
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# - FL_hip_joint
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# - FL_knee_joint
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# - RR_abad_joint
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# - RR_hip_joint
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# - RR_knee_joint
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# - RL_abad_joint
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# - RL_hip_joint
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# - RL_knee_joint
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#
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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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#
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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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#
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# feet_names:
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# - FR_foot
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# - FL_foot
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# - RR_foot
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# - RL_foot
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#
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# imu_name: "imu_sensor"
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# base_name: "base_link"
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#
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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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ocs2_quadruped_controller:
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ros__parameters:
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update_rate: 500 # Hz
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default_kd: 1.0
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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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feet_names:
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- FL_foot
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- FR_foot
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- RL_foot
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- RR_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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foot_force_name: "foot_force"
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foot_force_interfaces:
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- FL
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- RL
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- FR
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- RR |