controller_manager:
  ros__parameters:
    update_rate: 100

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    arm_position_controller:
      type: joint_trajectory_controller/JointTrajectoryController

arm_position_controller:
  ros__parameters:
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
    gains:
      joint1: { p: 100.0, d: 10.0, i: 0.01 }
      joint2: { p: 100.0, d: 10.0, i: 0.01 }
      joint3: { p: 100.0, d: 10.0, i: 0.01 }
      joint4: { p: 100.0, d: 10.0, i: 0.01 }
      joint5: { p: 100.0, d: 10.0, i: 0.01 }
      joint6: { p: 100.0, d: 10.0, i: 0.01 }