mirror of https://github.com/fan-ziqi/rl_sar.git
62 lines
1.8 KiB
YAML
62 lines
1.8 KiB
YAML
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# Copyright (c) 2024-2025 Ziqi Fan
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# SPDX-License-Identifier: Apache-2.0
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b2_gazebo:
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# Publish all joint states -----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 1000
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# FL Controllers ---------------------------------------
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FL_hip_controller:
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type: robot_joint_controller/RobotJointController
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joint: FL_hip_joint
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FL_thigh_controller:
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type: robot_joint_controller/RobotJointController
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joint: FL_thigh_joint
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FL_calf_controller:
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type: robot_joint_controller/RobotJointController
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joint: FL_calf_joint
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# FR Controllers ---------------------------------------
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FR_hip_controller:
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type: robot_joint_controller/RobotJointController
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joint: FR_hip_joint
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FR_thigh_controller:
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type: robot_joint_controller/RobotJointController
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joint: FR_thigh_joint
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FR_calf_controller:
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type: robot_joint_controller/RobotJointController
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joint: FR_calf_joint
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# RL Controllers ---------------------------------------
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RL_hip_controller:
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type: robot_joint_controller/RobotJointController
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joint: RL_hip_joint
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RL_thigh_controller:
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type: robot_joint_controller/RobotJointController
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joint: RL_thigh_joint
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RL_calf_controller:
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type: robot_joint_controller/RobotJointController
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joint: RL_calf_joint
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# RR Controllers ---------------------------------------
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RR_hip_controller:
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type: robot_joint_controller/RobotJointController
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joint: RR_hip_joint
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RR_thigh_controller:
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type: robot_joint_controller/RobotJointController
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joint: RR_thigh_joint
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RR_calf_controller:
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type: robot_joint_controller/RobotJointController
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joint: RR_calf_joint
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