message: feat: add effort and position traj controllers to simulation
diff: @@ -66,3 +66,23 @@ effort_joint_trajectory_controller:
  $(arg arm_id)_joint5: { goal: 0.05 }
  $(arg arm_id)_joint6: { goal: 0.05 }
  $(arg arm_id)_joint7: { goal: 0.05 }
  +
  +position_joint_trajectory_controller:
  + type: position_controllers/JointTrajectoryController
  + 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
  + constraints:
  + goal_time: 0.5
  + $(arg arm_id)_joint1: { goal: 0.05}
  + $(arg arm_id)_joint2: { goal: 0.05}
  + $(arg arm_id)_joint3: { goal: 0.05}
  + $(arg arm_id)_joint4: { goal: 0.05}
  + $(arg arm_id)_joint5: { goal: 0.05}
  + $(arg arm_id)_joint6: { goal: 0.05}
  + $(arg arm_id)_joint7: { goal: 0.05}
  