controllers.yaml

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 2

leftfront_leg_controller:
  type: effort_controllers/JointTrajectoryController
  joints:
    - leftfront_leg_shoulder_joint
    - leftfront_leg_upper_joint
    - leftfront_leg_lower_joint
  gains:
    leftfront_leg_shoulder_joint : {p: 30.0, i: 0.0, d: 0.03}
    leftfront_leg_upper_joint : {p: 30.0, i: 0.0, d: 0.03}
    leftfront_leg_lower_joint : {p: 30.0, i: 0.0, d: 0.03}


leftback_leg_controller:
  type: effort_controllers/JointTrajectoryController
  joints:
    - leftback_leg_shoulder_joint
    - leftback_leg_upper_joint
    - leftback_leg_lower_joint
  gains:
    leftback_leg_shoulder_joint : {p: 30.0, i: 0.0, d: 0.03}
    leftback_leg_upper_joint : {p: 30.0, i: 0.0, d: 0.03}
    leftback_leg_lower_joint : {p: 30.0, i: 0.0, d: 0.03}

rightfront_leg_controller:
  type: effort_controllers/JointTrajectoryController
  joints:
    - rightfront_leg_shoulder_joint
    - rightfront_leg_upper_joint
    - rightfront_leg_lower_joint
  gains:
    rightfront_leg_shoulder_joint : {p: 30.0, i: 0.0, d: 0.03}
    rightfront_leg_upper_joint : {p: 30.0, i: 0.0, d: 0.03}
    rightfront_leg_lower_joint : {p: 30.0, i: 0.0, d: 0.03}

rightback_leg_controller:
  type: effort_controllers/JointTrajectoryController
  joints:
    - rightback_leg_shoulder_joint
    - rightback_leg_upper_joint
    - rightback_leg_lower_joint
  gains:
    rightback_leg_shoulder_joint : {p: 30.0, i: 0.0, d: 0.03}
    rightback_leg_upper_joint : {p: 30.0, i: 0.0, d: 0.03}
    rightback_leg_lower_joint : {p: 30.0, i: 0.0, d: 0.03}