From 792a80db4093b9605cd93eab7bb8e79079400401 Mon Sep 17 00:00:00 2001
From: Noel Jimenez <noel.jimenez@pal-robotics.com>
Date: Wed, 17 Jan 2024 08:40:18 +0100
Subject: [PATCH] Revert "[JTC] Remove read_only from 'joints',
 'state_interfaces' and 'command_interfaces' parameters (#967)"

This reverts commit 6e2736b0ed521e1b236dcf8ab2ede4ef565e97d4.
---
 .../src/joint_trajectory_controller_parameters.yaml            | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
index a6358d1015..4981489d36 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
+++ b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -3,6 +3,7 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Names of joints used by the controller",
+    read_only: true,
     validation: {
       unique<>: null,
     }
@@ -20,6 +21,7 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Names of command interfaces to claim",
+    read_only: true,
     validation: {
       unique<>: null,
       subset_of<>: [["position", "velocity", "acceleration", "effort",]],
@@ -30,6 +32,7 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Names of state interfaces to claim",
+    read_only: true,
     validation: {
       unique<>: null,
       subset_of<>: [["position", "velocity", "acceleration",]],