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@Zach417
Created October 9, 2020 02:24
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ROBOT:
controller:
state:
type: joint_state_controller/JointStateController
publish_rate: 50
position:
YOUR_ROBOT_JOINT:
type: effort_controllers/JointPositionController
joint: YOUR_ROBOT_JOINT
pid: {p: 10.0, i: 0.0, d: 1.0}
YOUR_OTHER_ROBOT_JOINT:
type: effort_controllers/JointPositionController
joint: YOUR_ROBOT_JOINT
pid: {p: 5.0, i: 2.0, d: 1.0}
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