left_servo_node:
  ros__parameters:
    move_group_name: left_arm
    group_name: left_arm
    command_in_type: twist
    enable_servo: true

    scale:
      linear: 0.3
      angular: 0.3

    publish_period: 0.01

    command_out_type: trajectory
    trajectory_out_topic: left_joint_trajectory_controller/joint_trajectory

    planning_frame: openarm_body_link0
    ee_frame_name: openarm_left_link7
    robot_link_command_frame: openarm_left_link7

    incoming_command_timeout: 0.1
    num_outgoing_halt_msgs_to_publish: 4

    use_gazebo: false

right_servo_node:
  ros__parameters:
    move_group_name: right_arm
    group_name: right_arm
    command_in_type: twist
    enable_servo: true

    scale:
      linear: 0.3
      angular: 0.3

    publish_period: 0.01

    command_out_type: trajectory
    trajectory_out_topic: right_joint_trajectory_controller/joint_trajectory

    planning_frame: openarm_body_link0
    ee_frame_name: openarm_right_link7
    robot_link_command_frame: openarm_right_link7

    incoming_command_timeout: 0.1
    num_outgoing_halt_msgs_to_publish: 4

    use_gazebo: false