The first step is to configure the controllers.yaml, which is inside the cool5000_moveit_config/config folder. The definition of this file follows. For now, we are only focusing on moving the arm, and not on handling the gripper control. 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 the cool5000_description_moveit_controller_manager.launch.xml inside cool5000_moveit_config/launch:
<launch> <!-- Set the param that trajectory_execution_manager needs to find ...
