# 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

    unitree_guide_controller:
      type: unitree_guide_controller/UnitreeGuideController

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

unitree_guide_controller:
  ros__parameters:
    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