# This config file is used by ros2_control
controller_manager:
  ros__parameters:
    update_rate: 1000  # Hz

    arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

arm_controller:
  ros__parameters:
    joints:
      - base_rot
      - base_link1_joint
      - link1_link2_joint
      - link2_rot
      - link2_link3_joint
      - link3_rot
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
    
    constraints:
      stopped_velocity_tolerance: 0.01
      goal_time: 0.0