From a52aa61ad28fc07d68565584133bfd7f5f39d2d3 Mon Sep 17 00:00:00 2001
From: Bobbie Couhbor <b.couhbor@gmail.com>
Date: Sat, 4 Jun 2022 14:59:17 +1000
Subject: [PATCH] Added gazebo ros control parameters

---
 open_manipulator_gazebo/config/gazebo_controller.yaml      | 7 +++++++
 .../launch/open_manipulator_gazebo.launch                  | 2 ++
 2 files changed, 9 insertions(+)
 create mode 100644 open_manipulator_gazebo/config/gazebo_controller.yaml

diff --git a/open_manipulator_gazebo/config/gazebo_controller.yaml b/open_manipulator_gazebo/config/gazebo_controller.yaml
new file mode 100644
index 0000000..c482998
--- /dev/null
+++ b/open_manipulator_gazebo/config/gazebo_controller.yaml
@@ -0,0 +1,7 @@
+gazebo_ros_control:
+  pid_gains:
+    joint1: {p: 300.0, i: 0.1, d: 1.0, i_clamp: 0.2}
+    joint2: {p: 300.0, i: 0.1, d: 1.0, i_clamp: 0.2}
+    joint3: {p: 300.0, i: 0.1, d: 1.0, i_clamp: 0.2}
+    joint4: {p: 300.0, i: 0.1, d: 1.0, i_clamp: 0.2}
+    gripper_sub: {p: 300.0, i: 0.1, d: 1.0, i_clamp: 0.2}
\ No newline at end of file
diff --git a/open_manipulator_gazebo/launch/open_manipulator_gazebo.launch b/open_manipulator_gazebo/launch/open_manipulator_gazebo.launch
index c38335d..42e605e 100644
--- a/open_manipulator_gazebo/launch/open_manipulator_gazebo.launch
+++ b/open_manipulator_gazebo/launch/open_manipulator_gazebo.launch
@@ -4,6 +4,8 @@
   <arg name="paused" default="true"/>
   <arg name="use_sim_time" default="true"/>
 
+  <rosparam file="$(find open_manipulator_gazebo)/config/gazebo_controller.yaml" command="load"/>
+
   <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find open_manipulator_gazebo)/worlds/empty.world"/>