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修改角度读取方式

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zhangshixiang
2026-04-14 15:58:37 +08:00
parent c001f6a151
commit a45db46cf1
8 changed files with 254 additions and 201 deletions
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26
unilabos/device_mesh/ros2_controllers.yaml
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@@ -1,5 +1,31 @@
arm_slider_arm_controller:
ros__parameters:
command_interfaces:
- position
joints:
- arm_slider_arm_base_joint
- arm_slider_arm_link_1_joint
- arm_slider_arm_link_2_joint
- arm_slider_arm_link_3_joint
- arm_slider_gripper_base_joint
state_interfaces:
- position
- velocity
arm_slider_gripper_controller:
ros__parameters:
command_interfaces:
- position
joints:
- arm_slider_gripper_right_joint
state_interfaces:
- position
- velocity
controller_manager:
ros__parameters:
arm_slider_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
arm_slider_gripper_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
update_rate: 100