<<PackageHeader(amigo_controller_configuration_gazebo)>>
<<TOC(4)>>

= Package Summary =
This package contains the parameter files that are used by the package [[amigo_gazebo]] to set up the controllers for the gazebo simulation. These parameter files are formatted as [[http://en.wikipedia.org/wiki/YAML|YAML-files]] and are located in the ''parameters'' directory of the package. This directory contains the following files which contain the controller parameters:

 *'''arm_controllers.yaml''': Parameter file for the left and right arm controller
  *type (pr2_controller manager type)
  *joints/mechanisms (corresponding joints and mechanisms)
  *gains (controller parameters: p,i,d,i_clamp of the [[control_toolbox]])
  *limits (limits on position, velocity and acceleration)
  *init_positions (initial reference position of the controller)
 *'''base_controller.yaml''': Parameter file for the setup of the base controller
  *type (pr2_controller manager type)
  *joints/mechanisms (corresponding joints and mechanisms)
 *'''base_pid.yaml''': Parameter file that contains the controller parameters of the base controller
  *limits (limits on position, velocity and acceleration)
  *gains (controller parameters: p,i,d,i_clamp of the [[control_toolbox]])
  *Intertia properties 
 *'''filter.yaml''': Parameter file that contains the parameters for the lowpass-filter
 *'''gripper_controllers.yaml''': Parameter file that contains the parameters of the gripper controller
  *type (pr2_controller manager type)
  *joints/mechanisms (corresponding joints and mechanisms)
  *gains (controller parameters: p,i,d,i_clamp of the [[control_toolbox]])
  *limits (limits on position, velocity and acceleration)
  *init_positions (initial reference position of the controller)
 *'''head_controller.yaml''': Parameter file that contains the parameters of the head controller
  *type (pr2_controller manager type)
  *joints/mechanisms (corresponding joints and mechanisms)
  *gains (controller parameters: p,i,d,i_clamp of the [[control_toolbox]])
  *limits (limits on position, velocity and acceleration)
  *init_positions (initial reference position of the controller)
 *'''odom_publisher.yaml''': Parameter file that contains the parameters of the odometry publisher
  *type (pr2_controller manager type)
  *joints/mechanisms (corresponding joints and mechanisms)
  *publish_tf (boolean that describes if the tf needs to be published)
 *'''spindle_controller.yaml''': Parameter file that contains the parameters of the spindle controller
  *type (pr2_controller manager type)
  *joints/mechanisms (corresponding joints and mechanisms)
  *gains (controller parameters: p,i,d,i_clamp of the [[control_toolbox]])
  *feedforward (controller parameters feedforward)
  *limits (limits on position, velocity and acceleration)
  *init_positions (initial reference position of the controller)

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