openarm_ros2/openarm_bimanual_bringup/config/controllers.yaml

# Copyright 2025 Reazon Holdings, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    joint_state_broad:
      type: joint_state_broadcaster/JointStateBroadcaster

#     left_arm_controller:
#       type: joint_trajectory_controller/JointTrajectoryController

#     right_arm_controller:
#       type: joint_trajectory_controller/JointTrajectoryController


# left_arm_controller:
#   ros__parameters:
#     joints:
#       - left_rev1
#       - left_rev2
#       - left_rev3
#       - left_rev4
#       - left_rev5
#       - left_rev6
#       - left_rev7
#     command_interfaces:
#       - position
#       - velocity
#     state_interfaces:
#       - position
#       - velocity
#       - effort
# right_arm_controller:
#   ros__parameters:
#     joints:
#       - right_rev1
#       - right_rev2
#       - right_rev3
#       - right_rev4
#       - right_rev5
#       - right_rev6
#       - right_rev7
#     command_interfaces:
#       - position
#       - velocity
#     state_interfaces:
#       - position
#       - velocity
#       - effort