diff --git a/fd_bringup/launch/fd.launch.py b/fd_bringup/launch/fd.launch.py index 29ec889..146a850 100644 --- a/fd_bringup/launch/fd.launch.py +++ b/fd_bringup/launch/fd.launch.py @@ -90,7 +90,12 @@ def generate_launch_description(): # Load controllers load_controllers = [] - for controller in ['fd_controller', 'joint_state_broadcaster', 'fd_ee_broadcaster']: + for controller in [ + 'fd_controller', + 'joint_state_broadcaster', + 'fd_ee_broadcaster', + 'fd_inertia_broadcaster', + ]: load_controllers += [ Node( package='controller_manager', diff --git a/fd_description/config/fd_controllers.yaml b/fd_description/config/fd_controllers.yaml index 42f5ae6..ae05d7b 100644 --- a/fd_description/config/fd_controllers.yaml +++ b/fd_description/config/fd_controllers.yaml @@ -8,6 +8,9 @@ fd/controller_manager: fd_ee_broadcaster: type: ee_pose_broadcaster/EePoseBroadcaster + fd_inertia_broadcaster: + type: fd_inertia_broadcaster/FdInertiaBroadcaster + joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster @@ -49,3 +52,11 @@ fd/fd_ee_broadcaster: # - fd_pitch # - fd_yaw buttons: [button] # Note: only one button supported for now + +fd/fd_inertia_broadcaster: + ros__parameters: + transform_rotation: + - 0.0 + - 0.0 + - 0.0 + inertia_interface_name: fd_inertia