spot_ros2/spot_ros2_control/config/spot_default_controllers_without_arm.yaml at main · rai-opensource/spot_ros2 · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
# Copyright (c) 2024-2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

/**:
  controller_manager:
    ros__parameters:
      update_rate: 333
      foot_state_broadcaster:
        type: spot_controllers/FootStateBroadcaster
      forward_position_controller:
        type: spot_controllers/ForwardStateController
      forward_state_controller:
        type: spot_controllers/ForwardStateController
      imu_sensor_broadcaster:
        type: spot_controllers/SpotIMUBroadcaster
      joint_state_broadcaster:
        type: joint_state_broadcaster/JointStateBroadcaster
      spot_joint_controller:
        type: spot_controllers/SpotJointController
      spot_pose_broadcaster:
        type: spot_controllers/SpotPoseBroadcaster
      hardware_components_initial_state:
        unconfigured:
        - SpotSystem
  forward_position_controller:
    ros__parameters:
      joints:
        - front_left_hip_x
        - front_left_hip_y
        - front_left_knee
        - front_right_hip_x
        - front_right_hip_y
        - front_right_knee
        - rear_left_hip_x
        - rear_left_hip_y
        - rear_left_knee
        - rear_right_hip_x
        - rear_right_hip_y
        - rear_right_knee
      interface_names:
        - position
  forward_state_controller:
    ros__parameters:
      joints:
        - front_left_hip_x
        - front_left_hip_y
        - front_left_knee
        - front_right_hip_x
        - front_right_hip_y
        - front_right_knee
        - rear_left_hip_x
        - rear_left_hip_y
        - rear_left_knee
        - rear_right_hip_x
        - rear_right_hip_y
        - rear_right_knee
      interface_names:
        - position
        - velocity
        - effort
  spot_joint_controller:
    ros__parameters:
      joints:
        - front_left_hip_x
        - front_left_hip_y
        - front_left_knee
        - front_right_hip_x
        - front_right_hip_y
        - front_right_knee
        - rear_left_hip_x
        - rear_left_hip_y
        - rear_left_knee
        - rear_right_hip_x
        - rear_right_hip_y
        - rear_right_knee