controller_manager:
  ros__parameters:
    update_rate: 100
    use_sim_time: false

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    # 只声明类型；默认 launch 不加载、不激活，用于独占接口切换实验。
    forward_position_controller:
      type: forward_command_controller/ForwardCommandController

joint_state_broadcaster:
  ros__parameters:
    joints: [joint1, joint2]
    interfaces: [position, velocity]
    use_local_topics: false

arm_controller:
  ros__parameters:
    joints: [joint1, joint2]
    command_interfaces: [position]
    state_interfaces: [position, velocity]
    state_publish_rate: 50.0
    action_monitor_rate: 20.0
    allow_partial_joints_goal: false
    open_loop_control: false
    constraints:
      stopped_velocity_tolerance: 0.01
      goal_time: 1.0
      joint1: {trajectory: 0.1, goal: 0.02}
      joint2: {trajectory: 0.1, goal: 0.02}

forward_position_controller:
  ros__parameters:
    joints: [joint1, joint2]
    interface_name: position