six_axis_arm:
  # 状态发布
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

  # 轨迹控制
  arm_position_controller:
    type: position_controllers/JointTrajectoryController # 使用关节轨迹控制器:让机器人按照轨迹运动到目标位置
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
    gains:
      # 每个关节的PID增益设置
      joint1: { p: 100, d: 10, i: 0.01 }
      joint2: { p: 100, d: 10, i: 0.01 }
      joint3: { p: 100, d: 10, i: 0.01 }
      joint4: { p: 100, d: 10, i: 0.01 }
      joint5: { p: 100, d: 10, i: 0.01 }
      joint6: { p: 100, d: 10, i: 0.01 }