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unitree_ros
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Merge branch 'master' of github.com:AgRoboticsResearch/unitree_ros

This commit is contained in:
ZFEI 2024-03-06 21:03:13 +08:00
parent 50ae95d261 0b7759da3a
commit f491a1b3ec
1 changed files with 8 additions and 8 deletions
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16
robots/z1_description/config/robot_control.yaml
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@ -2,39 +2,39 @@ z1_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
publish_rate: 200
Joint01_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint1
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
Joint02_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint2
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
Joint03_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint3
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
Joint04_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint4
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
Joint05_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint5
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
Joint06_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint6
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}
gripper_controller:
type: unitree_legged_control/UnitreeJointController
joint: jointGripper
pid: {p: 300.0, i: 0.0, d: 5.0}
pid: {p: 1, i: 0.0, d: 0.0}