Updating the MoveIt configuration files

After creating the MoveIt configuration, we should update the ros_controllers.yaml file inside the config folder of the MoveIt package. Here is an example of ros_controllers.yaml:

controller_list: 
  - name: "" 
    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 

In the previous file, we have to pay attention to the action_ns field. This field represents the name of the action server used to send the trajectory to the simulated or real robotic platform. We will discuss in the next section how to configure...