joint_sensor_node:
  ros__parameters:
    right_can_interface: can2
    left_can_interface: can3
    enable_left_arm: true
    right_joint_states_topic: /right_joint_sensor_states
    left_joint_states_topic: /left_joint_sensor_states
    right_zero_offsets:
    - 0.023009711818284373
    - -2.304039143404233
    - 1.9236119080085938
    - 0.09357282806102418
    - 1.6321555583103224
    - -0.9848156658225804
    - -2.06934008285773
    - 1.3744467859455343
    right_sensor_directions:
    - -1.0
    - 1.0
    - -1.0
    - 1.0
    - -1.0
    - 1.0
    - -1.0
    - 1.0
    right_auto_zero_on_first_sample: false
    left_zero_offsets:
    - 2.492718780314167
    - -0.7577865092155065
    - -0.09817477042468115
    - -1.7257283863713466
    - 1.7119225592803753
    - -1.5201749607946704
    - -3.100175172316881
    - 1.2977477465512521
    left_sensor_directions:
    - -1.0
    - 1.0
    - -1.0
    - -1.0
    - -1.0
    - 1.0
    - 1.0
    - -1.0
    left_auto_zero_on_first_sample: false
    right_calibrate_now: false
    left_calibrate_now: false
    calibration_yaml_path: /home/shen/openarm_test/src/openarm_joint_sensor/config/joint_sensor_zero_offsets.yaml
    save_calibration_now: false
    auto_save_yaml_on_calibrate: true
    enable_stage_diag_log: false
    stage_log_min_interval_sec: 0.5
    enable_speed_jump_log: false
    speed_jump_threshold_rad_s: 3.0
    jump_log_min_interval_sec: 0.2
    joint_update_epsilon_rad: 0.0001
    enable_raw_jump_log: false
    raw_jump_threshold_rad: 0.2
    raw_jump_log_min_interval_sec: 0.2
    enable_raw_jump_reject: true
    raw_jump_reject_threshold_rad: 0.35
