unitree_guide_controller:
  ros__parameters:
    type: unitree_guide_controller/UnitreeGuideController
    joints:
      - FR_hip_joint
      - FR_thigh_joint
      - FR_calf_joint
      - FL_hip_joint
      - FL_thigh_joint
      - FL_calf_joint
      - RR_hip_joint
      - RR_thigh_joint
      - RR_calf_joint
      - RL_hip_joint
      - RL_thigh_joint
      - RL_calf_joint

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

    state_interfaces:
      - effort
      - position
      - velocity