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Robot Operating System Cookbook by Kumar Bipin

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Moving the real robot

First of all, we'll need to create a file to define how we will control the joints of our real robot. Inside the config folder of our MoveIt package, create a new file named controllers.yaml. Copy the following content inside of it:

controller_list: 
  - name: arm_controller 
    action_ns: follow_joint_trajectory 
    type: FollowJointTrajectory 
    joints: 
      - shoulder_pan_joint 
      - shoulder_lift_joint 
      - elbow_joint 
      - wrist_1_joint 
      - wrist_2_joint 
      - wrist_3_joint 
  - name: hand_controller 
    action_ns: follow_joint_trajectory 
    type: FollowJointTrajectory 
    joints: 
      - H1_F1J1 
      - H1_F1J2 
      - H1_F1J3 
      - H1_F2J1 
      - H1_F2J2 
      - H1_F2J3 
      - H1_F3J1 
      - H1_F3J2 
      - H1_F3J3 

So basically, here, we are defining the action servers that we will use for controlling the ...

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