use yaml file to config robot arm

harvest_arm_rm/config/config.yaml

@@ -0,0 +1,48 @@
+harvest_arm_rm:
+  ros__parameters:
+    robot_ip: "192.168.1.19"
+    host_ip: "192.168.1.101"
+
+    robot_port: 8899
+    port: 8089
+    level: 3
+    mode: 2
+
+    prefix: ""
+    left: true
+    savefile_flg: true
+    scissorgripper: -1
+
+    tool_name: "scissor"
+
+    max_velocity: 0.2
+    max_acceleration: 0.5
+
+    use_sim_time: false
+
+    arm_installation: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+
+    tools_in_ee.scissor: [
+      0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
+      0.66, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
+    ]
+
+    tools_in_ee.omnipic: [
+      0.0, 0.0, 0.16, 0.0, 0.0, 0.0, 1.0,
+      0.43, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
+    ]
+
+    tools_in_ee.minisci: [
+      0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
+      0.46, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
+    ]
+
+    tools_in_ee.no_tool: [
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+    ]
+
+    joint_max: [155.0, 115.0, 172.0, 130.0, 175.0, 125.0, 179.0]
+    joint_min: [-155.0, -30.0, -172.0, -130.0, -175.0, -125.0, -179.0]
+
+    bounds_p_right: [-0.35, 0.7, -0.7, 0.4, 0.32, 0.7]