After creating the MoveIt! files, we have to create the Gazebo controller configuration file and the launch file.
Create a new file called trajectory_control.yaml , which contains the list of the Gazebo ROS controllers that need to be loaded along with Gazebo.
You will get this file from the the seven_dof_arm_gazebo package created in Chapter 4, Simulating Robots Using ROS and Gazebo in the /config folder.
The following is the definition of this file:
seven_dof_arm: seven_dof_arm_joint_controller: type: "position_controllers/JointTrajectoryController" joints: - shoulder_pan_joint - shoulder_pitch_joint - elbow_roll_joint - elbow_pitch_joint - wrist_roll_joint - wrist_pitch_joint ...
