controller_manager: # config file used by ros2_control
  ros__parameters:
    update_rate: 1 # Hz (Limit this a bit)
    arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController
    gripper_controller:
      type: joint_trajectory_controller/JointTrajectoryController
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

arm_controller:
  ros__parameters:
    joints:
    - joint_1
    - joint_2
    - joint_3
    - joint_4
    - joint_5
    command_interfaces:
      - position
    state_interfaces:
      - position
    allow_nonzero_velocity_at_trajectory_end: true
gripper_controller:
  ros__parameters:
    joints:
    - joint_6
    command_interfaces:
    - position
    state_interfaces:
      - position
    allow_nonzero_velocity_at_trajectory_end: true
