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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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