| robot_type: ffw_bg2_rev4 | |
| camera_mapping: | |
| /zed/zed_node/left/image_rect_color/compressed: cam_head | |
| /camera_left/camera_left/color/image_rect_raw/compressed: cam_wrist_left | |
| /camera_right/camera_right/color/image_rect_raw/compressed: cam_wrist_right | |
| action_topics: | |
| leader_left: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory | |
| leader_right: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory | |
| leader_head: /leader/joystick_controller_left/joint_trajectory | |
| leader_lift: /leader/joystick_controller_right/joint_trajectory | |
| joint_order: | |
| - arm_l_joint1 | |
| - arm_l_joint2 | |
| - arm_l_joint3 | |
| - arm_l_joint4 | |
| - arm_l_joint5 | |
| - arm_l_joint6 | |
| - arm_l_joint7 | |
| - gripper_l_joint1 | |
| - arm_r_joint1 | |
| - arm_r_joint2 | |
| - arm_r_joint3 | |
| - arm_r_joint4 | |
| - arm_r_joint5 | |
| - arm_r_joint6 | |
| - arm_r_joint7 | |
| - gripper_r_joint1 | |
| - head_joint1 | |
| - head_joint2 | |
| - lift_joint |