controller_manager:
  ros__parameters:
    use_sim_time: True
    update_rate: 1000  # Hz

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    imu_broadcaster:
      type: imu_sensor_broadcaster/IMUSensorBroadcaster

    arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    gripper_controller:
      type: position_controllers/GripperActionController

imu_broadcaster:
  ros__parameters:
    use_sim_time: True
    frame_id: imu_link
    sensor_name: imu

arm_controller:
  ros__parameters:
    use_sim_time: True
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
    interface_name: position

    command_interfaces:
      - position

    state_interfaces:
      - position
      - velocity

    state_publish_rate: 200.0 # Defaults to 50
    action_monitor_rate: 20.0 # Defaults to 20

    allow_partial_joints_goal: false # Defaults to false
    open_loop_control: true
    allow_integration_in_goal_trajectories: true
    constraints:
      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
      goal_time: 0.0 # Defaults to 0.0 (start immediately)

gripper_controller:
  ros__parameters:
    use_sim_time: True
    joint: gripper_left_joint