config/control.yaml

   1 arm_joint_state_controller:
   2   type: "joint_state_controller/JointStateController"
   3   publish_rate: 20
   4
   5 arm_controller:
   6   type: "position_controllers/JointTrajectoryController"
   7   joints:
   8     - joint1
   9     - joint2
  10     - joint3
  11     - joint4
  12   constraints:
  13     goal_time: 0.3
  14
  15 gripper_controller:
  16   type: "position_controllers/GripperActionController"
  17   joint: gripper