From fd1bddfce9199aa49fa61c5df93dac359768843c Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 30 Jun 2020 03:46:12 -0300
Subject: [PATCH] Add group_bypass controller.

---
 q2d_bringup/config/group_bypass.yaml   | 9 +++++++++
 q2d_bringup/launch/group_bypass.launch | 5 +++++
 2 files changed, 14 insertions(+)
 create mode 100644 q2d_bringup/config/group_bypass.yaml
 create mode 100644 q2d_bringup/launch/group_bypass.launch

diff --git a/q2d_bringup/config/group_bypass.yaml b/q2d_bringup/config/group_bypass.yaml
new file mode 100644
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
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>
-- 
2.12.0