Mastering ROS for Robotics Programming - Second Edition

MoveIt! configuration of the COOL Arm

The first step is to configure the controllers.yaml, which is inside the cool5000_moveit_config/config folder. The definition of this file follows. For now, we are only focusing on moving the arm, and not on handling the gripper control. So the configuration only contains the arm group joints:

controller_list: 
  - name: cool5000_trajectory_controller 
    action_ns: follow_joint_trajectory 
    type: FollowJointTrajectory 
    default: true 
    joints: 
      - joint1 
      - joint2 
      - joint3 
      - joint4 
      - joint5 
      - joint6 
      - joint7 

The following is the definition of the cool5000_description_moveit_controller_manager.launch.xml inside cool5000_moveit_config/launch:

<launch> <!-- Set the param that trajectory_execution_manager needs to find ...