controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    #velocity_controller:
    #  type: velocity_controllers/JointGroupVelocityController

    joint_trajectory_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

#velocity_controller:
#  ros__parameters:
#    joints:
#      - joint_motor1_arm1
#      - joint_motor2_arm1
#      - joint_motor3_arm1
#      - joint_motor1_arm2
#      - joint_motor2_arm2
#      - joint_motor3_arm2
#      - joint_motor1_arm3
#      - joint_motor2_arm3
#      - joint_motor3_arm3
#      - joint_motor1_arm4
#      - joint_motor2_arm4
#      - joint_motor3_arm4
#      - joint_motor1_arm5
#      - joint_motor2_arm5
#      - joint_motor3_arm5
#      - joint_motor1_arm6
#      - joint_motor2_arm6
#      - joint_motor3_arm6

joint_trajectory_controller:
  ros__parameters:
    joints:
      - joint_motor1_arm1
      - joint_motor2_arm1
      - joint_motor3_arm1
      - joint_motor1_arm2
      - joint_motor2_arm2
      - joint_motor3_arm2
      - joint_motor1_arm3
      - joint_motor2_arm3
      - joint_motor3_arm3
      - joint_motor1_arm4
      - joint_motor2_arm4
      - joint_motor3_arm4
      - joint_motor1_arm5
      - joint_motor2_arm5
      - joint_motor3_arm5
      - joint_motor1_arm6
      - joint_motor2_arm6
      - joint_motor3_arm6

    command_interfaces:
      - position

    state_interfaces:
      - position
    
    allow_partial_joints_goal: true