controller_names:
    - joint_trajectory_controller

# http://control.ros.org/ros2_controllers/joint_trajectory_controller/doc/userdoc.html#ros2-interface-of-the-controller
joint_trajectory_controller:
  type: FollowJointTrajectory
  default: true
  joints:
    - base_rot
    - base_link1_joint
    - link1_link2_joint
    - link2_rot
    - link2_link3_joint
    - link3_rot