
controller_names:
  - scaled_joint_trajectory_controller
  - joint_trajectory_controller
  - robotiq_gripper_controller
  - robotiq_gripper_joint_trajectory_controller
  - combined_joint_trajectory_controller


scaled_joint_trajectory_controller:
  action_ns: follow_joint_trajectory
  type: FollowJointTrajectory
  default: true
  joints:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint


joint_trajectory_controller:
  action_ns: follow_joint_trajectory
  type: FollowJointTrajectory
  default: false
  joints:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint

robotiq_gripper_controller:
  action_ns: gripper_cmd
  type: GripperCommand
  default: true
  joints:
    - finger_joint

robotiq_gripper_joint_trajectory_controller:
  action_ns: follow_joint_trajectory
  type: FollowJointTrajectory
  default: false
  joints:
    - finger_joint
