# Copyright 2025 Enactic, 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.

# This config file is used by ros2_control
controller_manager:
  ros__parameters:
    update_rate: 100 # Hz

    left_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    right_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    left_gripper_controller:
      type: position_controllers/GripperActionController

    right_gripper_controller:
      type: position_controllers/GripperActionController

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

left_arm_controller:
  ros__parameters:
    joints:
      - openarm_left_joint1
      - openarm_left_joint2
      - openarm_left_joint3
      - openarm_left_joint4
      - openarm_left_joint5
      - openarm_left_joint6
      - openarm_left_joint7
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
      - effort

right_arm_controller:
  ros__parameters:
    joints:
      - openarm_right_joint1
      - openarm_right_joint2
      - openarm_right_joint3
      - openarm_right_joint4
      - openarm_right_joint5
      - openarm_right_joint6
      - openarm_right_joint7
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
      - effort

left_gripper_controller:
  ros__parameters:
    joints:
      - openarm_left_finger_joint1
    command_interfaces:
      - position
    state_interfaces:
      - position

right_gripper_controller:
  ros__parameters:
    joints:
      - openarm_right_finger_joint1
    command_interfaces:
      - position
    state_interfaces:
      - position