From e60cf080020b96e94d532f3476ccb6ad0f99eaff Mon Sep 17 00:00:00 2001
From: rickstaa <rick.staa@outlook.com>
Date: Tue, 16 Nov 2021 16:37:53 +0100
Subject: [PATCH] feat: add effort and position traj controllers to simulation

---
 franka_gazebo/config/sim_controllers.yaml | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/franka_gazebo/config/sim_controllers.yaml b/franka_gazebo/config/sim_controllers.yaml
index cb5d2fdd..ad1c0240 100644
--- a/franka_gazebo/config/sim_controllers.yaml
+++ b/franka_gazebo/config/sim_controllers.yaml
@@ -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}