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feat(franka_control): add example arm effort controller config file #368

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feat(franka_control): add example arm effort controller config file #368

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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ Requires `libfranka` >= 0.8.0
* `franka_gazebo`: `FrankaHWSim` only acts on joints belonging to a Franka robot. This allows to combine a Franka robot and others (like mobile platforms) in same URDF ([#313](https://github.com/frankaemika/franka_ros/issues/313))
* `franka_description`: `<xacro:franka_robot/>` macro now supports to customize the `parent` frame and its `xyz` + `rpy` offset
* `franka_hw`: Fix the bug where the previous controller is still running after switching the controller. ([#326](https://github.com/frankaemika/franka_ros/issues/326))
* `franka_control`: Add example arm effort controller config file

## 0.10.1 - 2022-09-15

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12 changes: 12 additions & 0 deletions franka_control/config/arm_effort_controller.yaml
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@@ -0,0 +1,12 @@
# Small arm effort controller example config file.
# NOTE: Joints are expected to be controlled as a group.
arm_effort_controller:
type: effort_controllers/JointGroupEffortController
joints:
- $(arg arm_id)_joint1
- $(arg arm_id)_joint2
- $(arg arm_id)_joint3
- $(arg arm_id)_joint4
- $(arg arm_id)_joint5
- $(arg arm_id)_joint6
- $(arg arm_id)_joint7
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