controller_manager:
    ros__parameters:
        update_rate: 50
        
        joint_state_broadcaster:
            type: joint_state_broadcaster/JointStateBroadcaster

        joint_group_controller:
            type: joint_trajectory_controller/JointTrajectoryController

joint_group_controller:
    ros__parameters:
        joints:
            - c1_joint
            - f1_joint
            - t1_joint
            - c2_joint
            - f2_joint
            - t2_joint
            - c3_joint
            - f3_joint
            - t3_joint
            - c4_joint
            - f4_joint
            - t4_joint
            - c5_joint
            - f5_joint
            - t5_joint
            - c6_joint
            - f6_joint
            - t6_joint
        
        command_interfaces:
            - position
        
        state_interfaces:
            - position

        interpolation_method: none