controller_manager:
  ros__parameters:
    update_rate: 31

    joint_state_broadcaster:
      type: "joint_state_broadcaster/JointStateBroadcaster"

    iiwa_arm_controller:
      type: "joint_trajectory_controller/JointTrajectoryController"


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

    command_interfaces:
      - position

    state_interfaces:
      - position

    allow_partial_joints_goal: false
    interpolate_from_desired_state: true