${arm_id} ${arm_prefix} fake_components/GenericSystem ${fake_sensor_commands} 0.0 franka_ign_ros2_control/IgnitionSystem franka_hardware/FrankaHardwareInterface ${robot_ip} ${arm_prefix} franka_hardware/MultiFrankaHardwareInterface ${robot_ip} ${arm_prefix} ${initial_position} 0.0 $(find franka_gazebo_bringup)/config/franka_gazebo_controllers.yaml