controller_manager:
  ros__parameters:
    update_rate: 1000  # Hz

    gravity_compensation_example_controller:
      type: franka_example_controllers/GravityCompensationExampleController

    joint_impedance_example_controller:
      type: franka_example_controllers/JointImpedanceExampleController

    move_to_start_example_controller:
      type: franka_example_controllers/MoveToStartExampleController

    model_example_controller:
      type: franka_example_controllers/ModelExampleController

    joint_trajectory_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
    
    franka_robot_state_broadcaster:
      type: franka_robot_state_broadcaster/FrankaRobotStateBroadcaster

franka_robot_state_broadcaster:
  ros__parameters:
    arm_id: panda

model_example_controller:
  ros__parameters:
    arm_id: panda

joint_trajectory_controller:
  ros__parameters:
    joints:
      - panda_joint1
      - panda_joint2
      - panda_joint3
      - panda_joint4
      - panda_joint5
      - panda_joint6
      - panda_joint7
    command_interfaces:
      - effort
    state_interfaces:
      - position
      - velocity
    gains:
      panda_joint1: { p: 600., d: 30., i: 0., i_clamp: 1. }
      panda_joint2: { p: 600., d: 30., i: 0., i_clamp: 1. }
      panda_joint3: { p: 600., d: 30., i: 0., i_clamp: 1. }
      panda_joint4: { p: 600., d: 30., i: 0., i_clamp: 1. }
      panda_joint5: { p: 250., d: 10., i: 0., i_clamp: 1. }
      panda_joint6: { p: 150., d: 10., i: 0., i_clamp: 1. }
      panda_joint7: { p: 50., d: 5., i: 0., i_clamp: 1. }

joint_impedance_example_controller:
  ros__parameters:
    arm_id: panda
    k_gains:
      - 24.0
      - 24.0
      - 24.0
      - 24.0
      - 10.0
      - 6.0
      - 2.0
    d_gains:
      - 2.0
      - 2.0
      - 2.0
      - 1.0
      - 1.0
      - 1.0
      - 0.5
move_to_start_example_controller:
  ros__parameters:
    arm_id: panda
    k_gains:
      - 600.0
      - 600.0
      - 600.0
      - 600.0
      - 250.0
      - 150.0
      - 50.0
    d_gains:
      - 30.0
      - 30.0
      - 30.0
      - 30.0
      - 10.0
      - 10.0
      - 5.