New minimal example, now with 7 joints

lbr-stack · Nov 3, 2023 · 97cbfe1 · 97cbfe1
1 parent e534201
commit 97cbfe1
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Showing 4 changed files with 483 additions and 366 deletions.
diff --git a/res/config/example_controller.yaml b/res/config/example_controller.yaml
@@ -7,6 +7,7 @@ CartesianImpedance_trajectory_controller:
     - joint4
     - joint5
     - joint6
+    - joint7
   end_effector: tool0                   # Link to control arm in
   update_frequency: 500                 # Controller update frequency in Hz
   dynamic_reconfigure: true             # Starts dynamic reconfigure server
@@ -38,3 +39,4 @@ hardware_interface:
     - joint4
     - joint5
     - joint6
+    - joint7
diff --git a/res/launch/examples.launch b/res/launch/examples.launch
@@ -38,4 +38,4 @@
         <!-- Run a python script to send a service call to gazebo_ros to spawn a URDF robot -->
         <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
                 args="-urdf -model robot -param robot_description"/>
-</launch>
+</launch>
-Original file line number
+Diff line change
@@ Expand Up / @@ -7,6 +7,7 @@ CartesianImpedance_trajectory_controller: @@
         - joint4
         - joint5
         - joint6
+        - joint7
       end_effector: tool0                   # Link to control arm in
       update_frequency: 500                 # Controller update frequency in Hz
       dynamic_reconfigure: true             # Starts dynamic reconfigure server
@@ Expand Down Expand Up / @@ -38,3 +39,4 @@ hardware_interface: @@
         - joint4
         - joint5
         - joint6
+        - joint7