User Guide
ros2_control urdf tag
The feetech system interface has a few ros2_control urdf tags to customize its behavior.
Parameters
usb_port: (required). Example:
<param name="usb_port">/dev/my_robot</param>.
Per-joint Parameters
Make sure to look at Memory table for a detailed explanation of the parameters.
id: (required). ID of the servo. Example:
<param name="id">1</param>.offset (default: 0). Offset of the servo’s zero position. Example:
<param name="offset">2048</param>.p_cofficient (optional): Proportional coefficient of the PID controller. Example:
<param name="p_cofficient">8</param>.i_cofficient (optional): Integral coefficient of the PID controller. Example:
<param name="i_cofficient">0</param>.d_cofficient (optional): Derivative coefficient of the PID controller. Example:
<param name="d_cofficient">32</param>.
Example
Take a look at ros2_so_arm100 for an example of how to use the tags.