ROS Programming: Building Powerful Robots

MoveIt! configuration of the COOL Arm

The first step is to configure controllers.yaml, which is inside the cool5000_moveit_config/config folder. The definition of this file follows. We are only focusing on moving the arm and not on handling the gripper control for now. 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 cool5000_description_moveit_controller_manager.launch.xml inside cool5000_moveit_config/launch:

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