The first step is to create a configuration file for talking with the trajectory controllers in Gazebo from MoveIt!. The controller configuration file called controllers.yaml has to be created inside the config folder of the seven_dof_arm_config package.
Given next is an example of the controllers.yaml definition:
controller_manager_ns: controller_manager controller_list: - name: seven_dof_arm/seven_dof_arm_joint_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - shoulder_pan_joint - shoulder_pitch_joint - elbow_roll_joint - elbow_pitch_joint - wrist_roll_joint - wrist_pitch_joint - gripper_roll_joint - name: seven_dof_arm/gripper_controller ...
