The pan controller configuration file contains the configuration of the controller that the controller spawner node is going to create. Here is the pan.yaml file definition for our controller:
pan_controller: controller: package: dynamixel_controllers module: joint_position_controller type: JointPositionController joint_name: pan_joint joint_speed: 1.17 motor: id: 1 init: 512 min: 316 max: 708
In this configuration file, we have to mention the servo details, such as ID, initial position, minimum and maximum servo limits, servo moving speed, and joint name. The name of the controller is pan_controller, and it's a joint position controller. We are writing one controller configuration for ID 1 because we are only using one servo.