Add parsing of control gains for hand#51
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kou merged 2 commits intoApr 29, 2026
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Apr 22, 2026
| <param name="kd6">${control_gains['joint6']['kd']}</param> | ||
| <param name="kd7">${control_gains['joint7']['kd']}</param> | ||
| <xacro:if value="${hand}"> | ||
| <param name="kph">${control_gains['hand']['kp']}</param> |
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kph is not immediately obvious, so would kp_hand be a clearer name?
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Agreed, changed as requested.
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Would the same change also be needed in |
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Apologies, I just completely missed this file, should all be fixed in the latest commit. |
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Apr 28, 2026
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Adds an additional set of control gains for the hand to be passed to ros2 control. See enactic/openarm_ros2#88 for corresponding change to openarm_hardware.