arcsys2_position_controller:
  type: "position_controllers/JointTrajectoryController"
  joints:
    - rail_to_shaft_joint                 # dc_motor
    - shaft_to_arm0_joint                 # krs_servo_motor
    - arm0_to_arm1_joint                  # krs_servo_motor
    - arm1_to_arm2_joint                  # krs_servo_motor
    - arm2_to_effector_base_joint         # krs_servo_motor
    - effector_base_to_effector_end_joint # dummy

arcsys2_position_controller:
  type: "position_controllers/JointTrajectoryController"
  joints:
    - rail_to_base_joint
    - shaft_to_arm0_joint
    - arm0_to_arm1_joint
    - arm1_to_arm2_joint
    - arm2_to_effector_joint
    - effector_to_blade_joint

Change joints to match urdf
Change joints to match urdf
