Redundant locations in URDF for joint position/effort/velocity limits

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In ROS1 (and now in ROS2), position (and effort/velocity) limits were specified in the Joint URDF definition.

I understand that the more flexible <ros2_control> tags in URDF allow the specification of limits for any user-defined interface as well, but in the specific case of position (and effort/velocity) limits, how are redundant values handled?

For example, say I have a joint definition with position limits, as below:

  <joint name="gripper_joint" type="revolute">
    <axis xyz="0 1 0"/>
    <parent link="base_link"/>
    <child link="gripper_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <limit effort="1000.0" lower="-1.57" upper="1.57" velocity="10.0"/>    <!-- <<< HERE -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>

And I also specify a <ros2_control> tag with a different set of position limits, as below:

  <ros2_control name="gripper" type="system">
    <hardware>
      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
    </hardware>
    <joint name="gripper_joint">
      <command_interface name="position">
        <param name="min">0.0</param>             <!-- <<<< HERE -->
        <param name="max">1.0</param>             <!-- <<<< HERE -->
        <param name="initial_value">0.5</param>
      </command_interface>
      <state_interface name="position">
    </joint>

What is the order of precedence by which these conflicting values are resolved?