false /camera/color 30 True camera_optical_frame false /camera/depth 30 True camera_optical_frame camera_rgb /camera/color 30 camera_optical_frame camera_depth true /camera/depth 30 camera_optical_frame webots_ros2_control::Ros2ControlSystem ${joint_limits['joint1']['soft_min_position']} ${joint_limits['joint1']['soft_max_position']} ${initial_positions['joint1']} ${joint_limits['joint2']['soft_min_position']} ${joint_limits['joint2']['soft_max_position']} ${initial_positions['joint2']} ${joint_limits['joint3']['soft_min_position']} ${joint_limits['joint3']['soft_max_position']} ${initial_positions['joint3']} ${joint_limits['joint4']['soft_min_position']} ${joint_limits['joint4']['soft_max_position']} ${initial_positions['joint4']} ${joint_limits['joint5']['soft_min_position']} ${joint_limits['joint5']['soft_max_position']} ${initial_positions['joint5']} ${joint_limits['joint6']['soft_min_position']} ${joint_limits['joint6']['soft_max_position']} ${initial_positions['joint6']} ${joint_limits['joint7']['soft_min_position']} ${joint_limits['joint7']['soft_max_position']} ${initial_positions['joint7']} iiwa_controller/IIWAHardwareInterface $(arg robot_ip) $(arg fri_port) $(arg fri_cycle_ms) $(arg joint_position_tau) 80 false ${joint_limits['joint1']['soft_min_position']} ${joint_limits['joint1']['soft_max_position']} ${initial_positions['joint1']} ${joint_limits['joint2']['soft_min_position']} ${joint_limits['joint2']['soft_max_position']} ${initial_positions['joint2']} ${joint_limits['joint3']['soft_min_position']} ${joint_limits['joint3']['soft_max_position']} ${initial_positions['joint3']} ${joint_limits['joint4']['soft_min_position']} ${joint_limits['joint4']['soft_max_position']} ${initial_positions['joint4']} ${joint_limits['joint5']['soft_min_position']} ${joint_limits['joint5']['soft_max_position']} ${initial_positions['joint5']} ${joint_limits['joint6']['soft_min_position']} ${joint_limits['joint6']['soft_max_position']} ${initial_positions['joint6']} ${joint_limits['joint7']['soft_min_position']} ${joint_limits['joint7']['soft_max_position']} ${initial_positions['joint7']}