/camera/color 30 True camera_optical_frame /camera/depth 30 True camera_optical_frame webots_ros2_control::Ros2ControlSystem -2.97 2.97 ${initial_positions['joint1']} -2.09 2.09 ${initial_positions['joint2']} -2.97 2.97 ${initial_positions['joint3']} -2.09 2.09 ${initial_positions['joint4']} -2.97 2.97 ${initial_positions['joint5']} -2.09 2.09 ${initial_positions['joint6']} -3.05 3.05 ${initial_positions['joint7']} iiwa_controller/IIWAHardwareInterface $(arg robot_ip) $(arg fri_port) false $(arg command_mode) $(arg joint_position_tau) $(arg joint_velocity_tau) -2.97 2.97 -200 200 ${initial_positions['joint1']} -2.09 2.09 -200 200 ${initial_positions['joint2']} -2.97 2.97 -200 200 ${initial_positions['joint3']} -2.09 2.09 -200 200 ${initial_positions['joint4']} -2.97 2.97 -200 200 ${initial_positions['joint5']} -2.09 2.09 -200 200 ${initial_positions['joint6']} -3.05 3.05 -200 200 ${initial_positions['joint7']}