-
Notifications
You must be signed in to change notification settings - Fork 9
/
example_modes_with_namespace.yaml
68 lines (64 loc) · 1.36 KB
/
example_modes_with_namespace.yaml
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
# system modes example
---
actuation:
ros__parameters:
type: system
parts:
drive_base
left/manipulator
right/manipulator
modes:
__DEFAULT__:
drive_base: active
left/manipulator: inactive
right/manipulator: active.WEAK
MODERATE:
drive_base: active.SLOW
left/manipulator: active.WEAK
right/manipulator: active.WEAK
PERFORMANCE:
drive_base: active.FAST
left/manipulator: active.STRONG
right/manipulsator: active.STRONG
left/manipulator:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
max_torque: 0.1
WEAK:
ros__parameters:
max_torque: 0.1
STRONG:
ros__parameters:
max_torque: 0.2
drive_base:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
max_speed: 0.1
controller: PID
SLOW:
ros__parameters:
max_speed: 0.2
controller: PID
FAST:
ros__parameters:
max_speed: 0.9
controller: MPC
right/manipulator:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
max_torque: 0.11
WEAK:
ros__parameters:
max_torque: 0.05
STRONG:
ros__parameters:
max_torque: 0.3