move_group_name: left_arm
group_name: left_arm
command_in_type: unitless
enable_servo: true
scale:
  linear: 1.0
  angular: 1.0
publish_period: 0.01
command_out_type: trajectory_msgs/JointTrajectory
# Ensure this matches the controller name loaded by the controller_manager
# The controllers file in openarm_bringup defines "left_joint_trajectory_controller"
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
command_out_topic: /left_joint_trajectory_controller/joint_trajectory
incoming_command_timeout: 1.0
num_outgoing_halt_msgs_to_publish: 4
use_gazebo: false