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Commit 390ac916 authored by mike's avatar mike
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controller manager

parent dcd0b847
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controller_list:
- name: panda_arm_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
- name: hand_controller
action_ns: gripper_action
type: GripperCommand
default: true
joints:
- panda_finger_joint1
- panda_finger_joint2
<launch>
</launch>
<launch>
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<!-- load controller_list -->
<rosparam file="$(find panda_moveit_config)/config/controllers.yaml"/>
</launch>
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