controller_manager:
  ros__parameters:
    update_rate: 200  # резервное значение; при запуске через launch: 1000 // fri_cycle_ms

    joint_state_broadcaster:
      type: "joint_state_broadcaster/JointStateBroadcaster"

    iiwa_arm_controller:
      type: "joint_trajectory_controller/JointTrajectoryController"

    forward_position_controller:
      type: "forward_command_controller/ForwardCommandController"

joint_state_broadcaster:
  ros__parameters:
    interfaces:
      - position
      - velocity
      - effort
      - external_torque
      # commanded_torque и ipo_joint_position доступны только при активном v2
      # при переключении на v2 — раскомментировать:
      # - commanded_torque
      # - ipo_joint_position

iiwa_arm_controller:
  ros__parameters:
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
      - joint7

    command_interfaces:
      - position

    state_interfaces:
      - position
      - velocity

    interpolate_from_desired_state: true
    allow_partial_joints_goal: false
    allow_nonzero_velocity_at_trajectory_end: false

    state_publish_rate: 50.0   # половина от update_rate, как в референсе lbr_fri_ros2_stack
    action_monitor_rate: 20.0

    # constraints:
    #   stopped_velocity_tolerance: 0.01  # [рад/с] — допуск скорости в конечной точке
    #   goal_time: 2.0                    # [с] — допуск на время достижения цели
    #   joint1: { trajectory: 0.1, goal: 0.01 }
    #   joint2: { trajectory: 0.1, goal: 0.01 }
    #   joint3: { trajectory: 0.1, goal: 0.01 }
    #   joint4: { trajectory: 0.1, goal: 0.01 }
    #   joint5: { trajectory: 0.1, goal: 0.01 }
    #   joint6: { trajectory: 0.1, goal: 0.01 }
    #   joint7: { trajectory: 0.1, goal: 0.01 }

forward_position_controller:
  ros__parameters:
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
      - joint7
    interface_name: position