default_controllers.yaml

arm_controller:
  follow_joint_trajectory:
    type: "robot_controllers/FollowJointTrajectoryController"
    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - upperarm_roll_joint
      - elbow_flex_joint
      - forearm_roll_joint
      - wrist_flex_joint
      - wrist_roll_joint
  gravity_compensation:
    type: "robot_controllers/GravityCompensation"
    root: "torso_lift_link"
    tip: "gripper_link"
    autostart: true
  cartesian_twist:
    type: "robot_controllers/CartesianTwistController"
    root_name: torso_lift_link 
    tip_name: wrist_roll_link
  cartesian_wrench:
    type: "robot_controllers/CartesianWrenchController"
    root_name: torso_lift_link
    tip_name: wrist_roll_link

arm_with_torso_controller:
  follow_joint_trajectory:
    type: "robot_controllers/FollowJointTrajectoryController"
    joints:
      - torso_lift_joint
      - shoulder_pan_joint
      - shoulder_lift_joint
      - upperarm_roll_joint
      - elbow_flex_joint
      - forearm_roll_joint
      - wrist_flex_joint
      - wrist_roll_joint

torso_controller:
  follow_joint_trajectory:
    type: "robot_controllers/FollowJointTrajectoryController"
    joints:
      - torso_lift_joint

head_controller:
  point_head:
    type: "robot_controllers/PointHeadController"
  follow_joint_trajectory:
    type: "robot_controllers/FollowJointTrajectoryController"
    joints:
      - head_pan_joint
      - head_tilt_joint

base_controller:
  type: "robot_controllers/DiffDriveBaseController"
  max_velocity_x: 1.0
  max_acceleration_x: 0.75
  # hold position
  moving_threshold: -0.01
  rotating_threshold: -0.01
  # autostart to get odom
  autostart: true
  # use laser to only slowly collide with things
  laser_safety_dist: 1.0

robot_driver:
  default_controllers:
    - "arm_controller/follow_joint_trajectory"
    - "arm_controller/gravity_compensation"
    - "arm_controller/cartesian_twist"
    - "arm_controller/cartesian_wrench"
    - "arm_with_torso_controller/follow_joint_trajectory"
    - "base_controller"
    - "head_controller/follow_joint_trajectory"
    - "head_controller/point_head"
    - "torso_controller/follow_joint_trajectory"