# see controllers: http://control.ros.org/ros2_controllers/doc/controllers_index.html
controller_manager:
  ros__parameters:
    update_rate: 500  # Hz

    joint_state_controller:
      type: joint_state_controller/JointStateController  # if left empty, all states are published https://github.com/ros-controls/ros2_controllers/blob/b9afbcd74a5263fafa77181187b8ffa8f0696ea8/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp#L41