controller_manager:
  ros__parameters:
    update_rate: 1000

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    joint_trajectory_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    gripper_controller:
      type: joint_trajectory_controller/JointTrajectoryController

joint_trajectory_controller:
  ros__parameters:
    joints:
      - fr3_joint1
      - fr3_joint2
      - fr3_joint3
      - fr3_joint4
      - fr3_joint5
      - fr3_joint6
      - fr3_joint7
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
    state_publish_rate: 100.0
    action_monitor_rate: 20.0
    allow_partial_joints_goal: false

gripper_controller:
  ros__parameters:
    joints:
      - fr3_finger_joint1
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
    state_publish_rate: 100.0
    action_monitor_rate: 20.0
    allow_partial_joints_goal: false
