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

        joint_trajectory_controller:
            type: joint_trajectory_controller/JointTrajectoryController

        forward_position_controller:
            type: forward_command_controller/ForwardCommandController


            
forward_position_controller:
    ros__parameters:
        joints:
            - t3_joint
        interface_name: position

joint_trajectory_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

        action_monitor_rate: 20.0

        allow_partial_joints_goal: false