test_joint_trajectory_publisher.yaml

publisher_joint_trajectory_controller:
  ros__parameters:

    controller_name: "position_trajectory_controller"
    wait_sec_between_publish: 6

    goal_names: ["pos1", "pos2", "pos3", "pos4"]
    pos1: [1.0, 1.0, 1.0, 1.0]
    pos2: [0.0, 0.0, 0.0, 0.0]
    pos3: [-1.0, -1.0, -1.0, -1.0]
    pos4: [0.0, 0.0, 0.0, 0.0]

    joints:
      - joint_chassis_to_steering_left_front
      - joint_chassis_to_steering_right_front
      - joint_chassis_to_steering_left_rear
      - joint_chassis_to_steering_right_rear

    check_starting_point: false
    starting_point_limits:
      joint1: [-0.1, 0.1]
      joint2: [-0.1, 0.1]