Commits on Mar 23, 2019

1. update joint_trjectory controller with mimic joint support …

   see https://github.com/k-okada/mimic_joint_gazebo_tutorial.git for example
   
   ```
   gripper_controller:
     type: position_controllers/JointTrajectoryController
     joints:
       - right_finger_joint
     mimic_joints:
       - left_finger_joint
     gains:
       right_finger_joint: {p: 20.0, i: 0.1, d: 0.2}
       left_finger_joint: {p: 20.0, i: 0.1, d: 0.2}
   ```
   we added `mimic_joints` tag for the list of the mimic joint, and you have to add gains section. Mimic joint params (muliplier/offset) is taken from urdf model

   

   k-okada committed Mar 23, 2019
   Configuration menu

   • View commit details
   • Copy full SHA for d91322a
   • Browse repository at this point

   Copy the full SHA

   d91322a View commit details

   Browse the repository at this point in the history