Olympian-URDF/olympian_description/launch/controller.yaml

olympian_controller:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

  # Position Controllers --------------------------------------
  Rev1_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev1
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev2_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev2
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev3_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev3
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev4_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev4
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev5_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev5
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev6_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev6
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev7_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev7
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev8_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev8
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev9_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev9
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev10_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev10
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev11_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev11
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev12_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev12
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev13_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev13
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev14_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev14
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev15_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev15
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev16_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev16
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev19_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev19
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev20_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev20
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev21_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev21
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev22_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev22
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev23_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev23
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev24_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev24
    pid: {p: 100.0, i: 0.01, d: 10.0}
  Rev25_position_controller:
    type: effort_controllers/JointPositionController
    joint: Rev25
    pid: {p: 100.0, i: 0.01, d: 10.0}