Controller ROS 2 parameters¶

ROS 2 parameters for public controllers in arms_ros2_control. Code pin: 9a1da3ba. Startup / Runtime wording matches the READMEs in pull request #120 (e1b7a147). How to load and inspect: Configure ROS 2 controller parameters. Topics and FSM integers: the per-controller pages (not repeated here).

Source of truth

Names, types, and defaults come from the linked README (or auto_declare / declare_parameter at the code pin when the README says so). When tags are Runtime / Startup only / Unverified as in #120. Framework commons (joints, update_rate, command_interfaces, state_interfaces, optional command_prefix) are on the how-to only.

How to read the tables¶

Three columns: Parameter, Type / default, Meaning (the When tag is the last sentence of Meaning).

Tag	Evidence (#120)
Runtime	`get_parameter` on the next HOME enter, MOVEJ enter / joint command, waist position plan, interpolating MoveL, or MOVEJ `cartesian_defaults`
Startup only	Member set in `on_init` / constructor / first waist-planner create; or README “reload / restart”
Unverified	No documented key in these tables is Unverified in #120

config/ocs2/*.info is not the ROS 2 parameter server. robot_name selects {robot_name}_description; the task file is {pkg}/config/ocs2/task.info unless launch YAML sets info_file_name.

Basic Joint Controller¶

Plugin basic_joint_controller/BasicJointController. Also declares the framework-common keys. Home keys: shared Home. README #120 / README_zh. Topics: Basic Joint Controller. How-to: Use Basic Joint Controller.

This is the primary MoveJ parameter table. 灵巧手 uses target_command_* on this controller (not Adaptive Gripper Controller).

MoveJ¶

README defaults below. Shared C++ auto_declare on OCS2 Arm Controller uses movej_interpolation_type "linear" and movej_trajectory_blend_ratio 0.2 — see that page’s delta, not a second MoveJ table.

Parameter	Type / default	Meaning
`movej_duration`	double / `3.0`	Lower bound for `target_joint_position` (tanh / linear / doubles). Runtime.
`movej_interpolation_type`	string / `"tanh"` (README YAML)	`"tanh"` \| `"linear"` \| `"doubles"` \| `"none"` (README_zh also `"servo"`). Runtime.
`movej_tanh_scale`	double / `3.0`	tanh scale. Runtime.
`movej_trajectory_duration`	double / `3.0`	Multi-waypoint duration. Runtime.
`movej_trajectory_blend_ratio`	double / `0.0`	Waypoint blend. Runtime.
`movej_max_velocity`	double / `2.0`	Peak joint speed; may extend duration. Runtime.
`movej_max_acceleration`	double / `4.0`	doubles only. Runtime.
`movej_max_jerk`	double / `20.0`	doubles only. Runtime.
`movej_auto_extend_duration`	bool / `true`	`false` keeps a fixed duration. Runtime.

none is not duration-extended. joint_trajectory_with_para uses the same vel/acc/jerk when a waypoint omits those arrays.

MOVEJ cartesian_defaults.* (IK MoveL when lina_planning is present) are Runtime on the next MOVEJ command — arms_target_manager README in #120.

灵巧手 (`target_command`)¶

Parameter	Type / default	Meaning
`target_command_enabled`	bool / `false`	Switch/percent topics. Startup only.
`target_command_close_config`	int / `1`	Close pose index in Home configs (0-based). Startup only.
`target_command_open_config`	int / `0`	Open pose index. Startup only.

Waist¶

Only waist_lifting_duration is Runtime. Type, speed triples, kinematics, and TF frames are Startup only (first planner create or on_init).

Parameter	Type / default	Meaning
`waist_lifting_enabled`	bool / `false`	Declares waist params and topics. Startup only.
`waist_lifting_type`	string / `"three_joint"`	`"three_joint"` \| `"single_joint"`. Startup only.
`waist_lifting_duration`	double / `3.0`	Re-read on the next waist position plan. Runtime.
`waist_lifting_default_parameter`	double[3] / `[0.25, 1.0, 5.0]`	`[max_speed, accel, decel]`. Startup only.
`waist_turning_default_parameter`	double[3] / `[0.25, 1.0, 5.0]`	`[max_speed, accel, decel]`. Startup only.
`waist_absolute_source_frame`	string / `"base_footprint"`	Absolute `(x, z)` (W2 default). Startup only.
`waist_absolute_target_frame`	string / `"body_base"`	`phi` / relative planning. Startup only.
`waist_l1` / `waist_l2`	double / `0.322` / `0.355`	three_joint. Startup only.
`waist_rotation_direction`	double[3] / `[1, 1, 1]`	three_joint. Startup only.
`waist_angle_offset`	double[3] / `[0, 0, 0]`	three_joint. Startup only.
`waist_single_joint_direction`	double / `1.0`	single_joint (ARX Lift / Lift 2S). Startup only.
`waist_single_joint_offset`	double / `0.0`	single_joint. Startup only.
`waist_single_joint_pitch_joint`	string / `"_no_pitch_"` (README)	Name not in `joints` → pitch disabled. Source `auto_declare` default is `"body_joint2"`. Startup only.
`waist_single_joint_pitch_direction`	double / `1.0`	single_joint. Startup only.
`waist_single_joint_pitch_offset`	double / `0.0`	single_joint. Startup only.

Lift 2S example (body_joint_controller): waist_lifting_enabled: true, waist_lifting_type: single_joint, waist_absolute_source_frame: base_link, waist_absolute_target_frame: lift_link. Overlay: arx_lift2s_description/.../ros2_controllers.yaml.

Adaptive Gripper Controller¶

夹爪. Plugin adaptive_gripper_controller/AdaptiveGripperController. README 配置参数. Command channels: Adaptive Gripper Controller. Open/close limits come from /robot_description.

Uses joint (singular), not joints. update_rate and ControllerInterface command/state lists are Startup only at load. No on_set_parameters callback and no re-read in update().

Parameter	Type / default	Meaning
`joint`	string / `"gripper_joint"`	Controlled joint. Startup only.
`use_effort_interface`	bool / `true`	Bind effort state for force feedback. Startup only.
`force_threshold`	double / `0.1`	Effort magnitude that triggers feedback. Startup only.
`force_feedback_ratio`	double / `0.5`	After trigger: `0.0` stop here, `1.0` continue to original target. Startup only.

OCS2 Arm Controller¶

Plugin ocs2_arm_controller/Ocs2ArmController. Also declares the framework-common keys and the shared Home names. README #120. FSM / launch: OCS2 Arm Controller. Public YAML: cr5_description/.../ros2_controllers.yaml. Optional dual-arm overlay on robot_descriptions feature/agilex only: taku_description/.../ros2_controllers.yaml.

README FSM is HOME / HOLD / OCS2 (3 = OCS2). Source also constructs StateMoveJ for canonical /fsm_command 4 (and IK MoveL when lina_planning is present). Do not copy the Basic Joint MoveJ table here. Declare-time deltas vs Basic Joint: movej_interpolation_type default "linear", movej_trajectory_blend_ratio 0.2. Waist keys, when waist_lifting_enabled, follow the Basic Joint waist table (only waist_lifting_duration is Runtime).

Older README names that are not parameters at this pin: zero_pos (use rest_pos), robot_pkg (use robot_name), force_gains (use default_gains / pd_gains).

Parameter	Type / default	Meaning
`home_pos`	double[]	Legacy single Home if `home_1`… are absent. Startup only.
`rest_pos`	double[]	Extra Home slot when `home_1` is already set. Startup only.
`robot_name`	string / `"cr5"`	Selects `{robot_name}_description` and OCS2 files. Startup only.
`default_gains`	double[]	HOME / HOLD impedance `[kp, kd]` when MIX interfaces are present. Startup only.
`pd_gains`	double[]	OCS2-state impedance `[kp, kd]`. Startup only.
`base_frame`	`task.info` `baseFrame`	Model / reference base. Startup only — not hot like `movel_duration`; change tip → restart.
`left_ee_frame`	`task.info` `eeFrame`	Left tip (YAML may set `left_tcp`). Startup only.
`right_ee_frame`	`task.info` `eeFrame1`	Right tip. Startup only.
`movel_duration`	`2.0` (CR5 YAML `0.5`)	MoveL duration (s). Runtime (next interpolating / stamped command).
`movel_trajectory_duration`	`2.0`	MoveL trajectory duration. Runtime.
`movel_sample_interval`	`0.04`	Sample interval. Runtime.
`movel_max_linear_velocity`	`0.3`	Linear vel limit. Runtime.
`movel_max_linear_acceleration`	`1.0`	Linear acc limit. Runtime.
`movel_max_linear_jerk`	`2.0`	Linear jerk limit. Runtime.
`movel_max_angular_velocity`	`1.0`	Angular vel limit. Runtime.
`movel_max_angular_acceleration`	`2.0`	Angular acc limit. Runtime.
`movel_max_angular_jerk`	`4.0`	Angular jerk limit. Runtime.
`movel_auto_extend_duration`	`true`	Extend MoveL duration when limits require it. Runtime.

YAML frame overrides are injected in memory at Interface construction.

arms_target_manager¶

This is a command node, not a ros2_control controller. README: #120. Cartesian topics: FSM and Topics, Adaptive Gripper Controller.

YAML: package config/default.yaml, or a robot config/ocs2/target_manager.yaml.

declare_parameter in main then values go into constructors. No on_set_parameters callback and no later get_parameter. Every row below is Startup only. Controller frames (base_frame, left_ee_frame, right_ee_frame, WBC body_frame) belong to the controller node — Startup only there.

Parameter	Default	Meaning
`dual_arm_mode`	launch / task.info; C++ `false`	Dual-arm markers. Startup only.
`control_base_frame`	launch / task.info; C++ `"world"`	Control base. Startup only.
`hand_controllers`	launch / task.info; C++ `[]`	Hand controller names. Startup only.
`marker_fixed_frame`	`"base_link"`	RViz marker fixed frame. Startup only.
`enable_movej_cartesian_markers`	`true` if `lina_planning`, else `false`; `full_body.launch.py` sets `false` under WBC	MOVEJ arm markers → stamped IK MoveL. Startup only.
`enable_head_control`	`false`	Legacy head RPY-to-joint marker (`/head_joint_controller/target_joint_position`). Startup only.
`enable_wbc_head_tracking_marker`	`false`	WBC Head 6D marker; still needs FSM=OCS2 and `HEAD_TRACKING`. Startup only.
`linear_scale`	`0.1`	Full-stick linear twist (m/s). Startup only.
`angular_scale`	`0.25`	Full-stick angular twist (rad/s). Startup only.
`control_input_rate`	`50.0`	Typical `control_input` Hz (feel only). Startup only.
`vr_thumbstick_linear_scale`	`0.005`	VR stick linear step (m/step). Startup only.
`vr_thumbstick_angular_scale`	`0.05`	VR stick angular step (rad/step). Startup only.
`enable_vr`	`false` in `default.yaml`; C++ declare `true`	Enable VR handler. Launch YAML overrides the C++ default. Startup only.

OCS2 WBC Controller¶

controller/ocs2_wbc_controller is a private submodule. Parameter names after access: that package README. Public launch: ros2 launch ocs2_arm_controller full_body.launch.py — OCS2 WBC Controller. Extra frame body_frame is Startup only per the target-manager notes in #120.

Public YAML may still list an ocs2_wbc_controller: block (Lift 2S home_3 / home_4; Taku on feature/agilex). Treat those keys as machine overlays; the private README is the parameter list.