31 lines
566 B
YAML
31 lines
566 B
YAML
controller_manager:
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ros__parameters:
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update_rate: 100
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joint_state_broadcaster:
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type: "joint_state_broadcaster/JointStateBroadcaster"
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iiwa_arm_controller:
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type: "joint_trajectory_controller/JointTrajectoryController"
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iiwa_arm_controller:
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ros__parameters:
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joints:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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- joint6
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- joint7
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command_interfaces:
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- position
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state_interfaces:
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- position
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allow_partial_joints_goal: false
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interpolate_from_desired_state: true
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