Add group_bypass controller.

diff --git a/q2d_bringup/config/group_bypass.yaml b/q2d_bringup/config/group_bypass.yaml
new file mode 100644 (file)
index 0000000..1e3f326
--- /dev/null
+++ b/q2d_bringup/config/group_bypass.yaml
@@ -0,0 +1,9 @@
+group_controller:
+        type: effort_controllers/JointGroupEffortController
+        joints:
+                - shoulder_active_joint
+                - elbow_active_joint
+
+joint_states_publisher:
+        type: joint_state_controller/JointStateController
+        publish_rate: 100

diff --git a/q2d_bringup/launch/group_bypass.launch b/q2d_bringup/launch/group_bypass.launch
new file mode 100644 (file)
index 0000000..89dd4cd
--- /dev/null
+++ b/q2d_bringup/launch/group_bypass.launch
@@ -0,0 +1,5 @@
+<launch>
+       <node name="controller_spawner" pkg="controller_manager"
+               type="spawner" respawn="false" output="screen"
+               args="group_controller joint_states_publisher" />
+</launch>