${ros2_control_plugin} ${prefix}${hw_ns} ${velocity_control} P${prefix} R${robot_ip} ${report_type} 5 ${baud_checkset} ${default_gripper_baud} xarm ${add_gripper} ${joint1_lower_limit} ${joint1_upper_limit} -3.14 3.14 ${joint2_lower_limit} ${joint2_upper_limit} -3.14 3.14 ${joint3_lower_limit} ${joint3_upper_limit} -3.14 3.14 ${joint4_lower_limit} ${joint4_upper_limit} -3.14 3.14 ${joint5_lower_limit} ${joint5_upper_limit} -3.14 3.14