ROS Programming: Building Powerful Robots

Step 9 – Writing controller configuration file

After proper installation of the controller, we can configure and run it. The first procedure is to create the configuration file of the controller that consists of the controller type, joint name, joint limits, and so on. The configuration file is saved as a YAML file that has to be saved inside the package. We are creating a YAML file with a name of my_controller.yaml and the definition is given as follows:

  my_controller_name:    type: my_controller_pkg/MyControllerPlugin    joint_name: r_shoulder_pan_joint