joint_sensor_node:
  ros__parameters:
    can_interface: can2
    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
    zero_offsets:
    - 2.7995149378912956
    - 2.5233983960718795
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    sensor_directions:
    - -1.0
    - 1.0
    - -1.0
    - -1.0
    - -1.0
    - 1.0
    - 1.0
    - -1.0
    auto_zero_on_first_sample: true
    left_zero_offsets:
    - -1.1550875332778876
    - 0.7838641826095625
    - -2.710544052193928
    - 0.12118448224296552
    - 3.0265440944983695
    - 2.2196702000705226
    - 1.0921943209745777
    - 1.3729128051576485
    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: true
    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
