From 390ac91675d67ebc4f20962769d688e1c5df5b62 Mon Sep 17 00:00:00 2001
From: mike <mikeblautman@gmail.com>
Date: Tue, 27 Mar 2018 11:08:22 -0600
Subject: [PATCH] controller manager

---
 config/controllers.yaml                       | 20 +++++++++++++++++++
 ...panda_moveit_controller_manager.launch.xml | 10 +++++++---
 2 files changed, 27 insertions(+), 3 deletions(-)
 create mode 100644 config/controllers.yaml

diff --git a/config/controllers.yaml b/config/controllers.yaml
new file mode 100644
index 0000000..610b0af
--- /dev/null
+++ b/config/controllers.yaml
@@ -0,0 +1,20 @@
+ controller_list:
+  - name: panda_arm_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - panda_joint1
+      - panda_joint2
+      - panda_joint3
+      - panda_joint4
+      - panda_joint5
+      - panda_joint6
+      - panda_joint7
+  - name: hand_controller
+    action_ns: gripper_action
+    type: GripperCommand
+    default: true
+    joints:
+      - panda_finger_joint1
+      - panda_finger_joint2
diff --git a/launch/panda_moveit_controller_manager.launch.xml b/launch/panda_moveit_controller_manager.launch.xml
index 5d02698..ffbf1a2 100644
--- a/launch/panda_moveit_controller_manager.launch.xml
+++ b/launch/panda_moveit_controller_manager.launch.xml
@@ -1,3 +1,7 @@
-<launch>
-
-</launch>
+ <launch>
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+  <!-- load controller_list -->
+  <rosparam file="$(find panda_moveit_config)/config/controllers.yaml"/>
+ </launch>
-- 
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