controller_manager:
  ros__parameters:
    update_rate: 500  # Hz
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
    forward_gripper_position_controller:
      type: robotiq_2f_controllers/RobotiqForwardController
    robotiq_activation_controller:
      type: robotiq_controllers/RobotiqActivationController

forward_gripper_position_controller:
  ros__parameters:
    joint: gripper_gap

robotiq_activation_controller:
  ros__parameters:
    default: true