joint_control_node:
  ros__parameters:
    enable_filter: true
    filter_type: ema
    ema_alpha: 0.15
    kalman_q: 1.0e-5
    kalman_r: 1.0e-2

    right_joint_states_topic: /right_joint_sensor_states
    left_joint_states_topic: /left_joint_sensor_states

    right_arm_cmd_topic: /right_forward_position_controller/commands
    right_gripper_cmd_topic: /right_gripper_controller/commands
    left_arm_cmd_topic: /left_forward_position_controller/commands
    left_gripper_cmd_topic: /left_gripper_controller/commands
