# Copyright (c) 2024 Stogl Robotics Consulting UG (haftungsbeschränkt)
#
# 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.

#
# Source of this file are templates in
# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
#

publisher_forward_position_controller:
  ros__parameters:

    controller_name: "forward_position_controller"
    wait_sec_between_publish: 5

    goal_names: ["pos1", "pos2", "pos3", "pos4"]
    pos1: [0.185, 0.185, 0.185, 0.185, 0.185, 0.185, 0.185]
    pos2: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    pos3: [-0.185, -0.185, -0.185, -0.185, -0.185, -0.185, -0.185]
    pos4: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]


publisher_joint_trajectory_controller:
  ros__parameters:

    controller_name: "joint_trajectory_controller"
    wait_sec_between_publish: 6
    repeat_the_same_goal: 1 # useful to simulate continuous inputs

    goal_time_from_start: 3.0
    goal_names: ["pos1", "pos2", "pos3", "pos4"]
    pos1:
      positions: [0.185, 0.185, 0.185, 0.185, 0.185, 0.185, 0.185]
    pos2:
      positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    pos3:
      positions: [-0.185, -0.185, -0.185, -0.185, -0.185, -0.185, -0.185]
    pos4:
      positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

    joints:
      - rev1
      - rev2
      - rev3
      - rev4
      - rev5
      - rev6
      - rev7