publisher_scaled_joint_trajectory_controller:
  ros__parameters:

    controller_name: "scaled_joint_trajectory_controller"
    wait_sec_between_publish: 6

    goal_names: ["pos1", "pos2", "pos3", "pos4"]
    pos1:
      positions: [0.785, -1.57, 0.785, 0.785, 0.785, 0.785]
    pos2:
      positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
    pos3:
      positions: [0.0, -1.57, 0.0, 0.0, -0.785, 0.0]
    pos4:
      positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]

    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint

    check_starting_point: true
    starting_point_limits:
      shoulder_pan_joint: [-0.1,0.1]
      shoulder_lift_joint: [-1.6,-1.5]
      elbow_joint: [-0.1,0.1]
      wrist_1_joint: [-1.6,-1.5]
      wrist_2_joint: [-0.1,0.1]
      wrist_3_joint: [-0.1,0.1]

publisher_joint_trajectory_controller:
  ros__parameters:

    controller_name: "joint_trajectory_controller"
    wait_sec_between_publish: 6

    goal_names: ["pos1", "pos2", "pos3", "pos4"]
    pos1:
      positions: [0.785, -1.57, 0.785, 0.785, 0.785, 0.785]
    pos2:
      positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
    pos3:
      positions: [0.0, -1.57, 0.0, 0.0, -0.785, 0.0]
    pos4:
      positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]

    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint

    check_starting_point: true
    starting_point_limits:
      shoulder_pan_joint: [-0.1,0.1]
      shoulder_lift_joint: [-1.6,-1.5]
      elbow_joint: [-0.1,0.1]
      wrist_1_joint: [-1.6,-1.5]
      wrist_2_joint: [-0.1,0.1]
      wrist_3_joint: [-0.1,0.1]