Реализован спавн робота с контроллерами в виртуальной среде webots

2025-11-21 13:49:04 +10:00
parent a24cc16e0a
commit 9918c2bfc6
44 changed files with 7264 additions and 10 deletions
@@ -0,0 +1,30 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 31
+
+    joint_state_broadcaster:
+      type: "joint_state_broadcaster/JointStateBroadcaster"
+
+    joint_trajectory_controller:
+      type: "joint_trajectory_controller/JointTrajectoryController"
+
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+      - joint6
+      - joint7  
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+
+    allow_partial_joints_goal: false
+    interpolate_from_desired_state: true