# Controller Manager configuration
controller_manager:
  ros__parameters:
    update_rate: 500  # Hz

    # Define the available controllers
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    imu_sensor_broadcaster:
      type: imu_sensor_broadcaster/IMUSensorBroadcaster

    leg_pd_controller:
      type: leg_pd_controller/LegPdController

    unitree_guide_controller:
      type: unitree_guide_controller/UnitreeGuideController

imu_sensor_broadcaster:
  ros__parameters:
    sensor_name: "imu_sensor"
    frame_id: "imu_sensor"

leg_pd_controller:
  ros__parameters:
    joints:
      - RF_HAA
      - RF_HFE
      - RF_KFE
      - LF_HAA
      - LF_HFE
      - LF_KFE
      - RH_HAA
      - RH_HFE
      - RH_KFE
      - LH_HAA
      - LH_HFE
      - LH_KFE

    command_interfaces:
      - effort

    state_interfaces:
      - position
      - velocity

unitree_guide_controller:
  ros__parameters:
    command_prefix: "leg_pd_controller"
    joints:
      - RF_HAA
      - RF_HFE
      - RF_KFE
      - LF_HAA
      - LF_HFE
      - LF_KFE
      - RH_HAA
      - RH_HFE
      - RH_KFE
      - LH_HAA
      - LH_HFE
      - LH_KFE

    command_interfaces:
      - effort
      - position
      - velocity
      - kp
      - kd

    state_interfaces:
      - effort
      - position
      - velocity

    feet_names:
      - RF_FOOT
      - LF_FOOT
      - RH_FOOT
      - LH_FOOT

    imu_name: "imu_sensor"
    base_name: "base"

    imu_interfaces:
      - orientation.w
      - orientation.x
      - orientation.y
      - orientation.z
      - angular_velocity.x
      - angular_velocity.y
      - angular_velocity.z
      - linear_acceleration.x
      - linear_acceleration.y
      - linear_acceleration.z