← Source browser

src/custom-ur-descriptions/cms_moveit_config/config/epick_controllers.yaml

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
# ePick controller overlay — loaded by the gripper spawner via --param-file,
# NOT by ros2_control_node. The shared base (ur_base_controllers.yaml) carries
# the full UR controller set; this overlay adds ONLY the ePick-specific
# controllers so the base stays gripper-agnostic.
#
# Format note: the spawner reads `<controller>: ros__parameters: {type: ...}`
# under the `/**` wildcard (controller_manager_services.py get_parameter_from
# _param_files) and sets `<controller>.type` on the running controller_manager.
# This is a DIFFERENT layout from the base file's `controller_manager:
# ros__parameters: <controller>: type:` — do not merge the two formats.
/**:
  epick_gripper_action_controller:
    ros__parameters:
      type: epick_controllers/EpickGripperActionController
  epick_status_publisher_controller:
    ros__parameters:
      type: epick_controllers/EpickStatusPublisherController