ROS Programming: Building Powerful Robots

The pan controller configuration file

The pan controller configuration file contains the configuration of the controller that the controller spawner node is going to create. Here is the pan.yaml file definition for our controller:

    pan_controller: 
        controller: 
            package: dynamixel_controllers 
            module: joint_position_controller 
            type: JointPositionController 
        joint_name: pan_joint 
        joint_speed: 1.17 
        motor: 
            id: 1 
            init: 512 
            min: 316 
            max: 708 

In this configuration file, we have to mention the servo details, such as ID, initial position, minimum and maximum servo limits, servo moving speed, and joint name. The name of the controller is pan_controller, and it's a joint position controller. We are writing one controller configuration for ID 1 because ...