# MoveIt uses this configuration for controller management

moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:
  controller_names:
    - leftarm_controller
    - rightarm_controller

  leftarm_controller:
    type: FollowJointTrajectory
    joints:
      - left_joint1
      - left_joint2
      - left_joint3
      - left_joint4
      - left_joint5
      - left_joint6
    action_ns: follow_joint_trajectory
    default: true
  rightarm_controller:
    type: FollowJointTrajectory
    joints:
      - right_joint1
      - right_joint2
      - right_joint3
      - right_joint4
      - right_joint5
      - right_joint6
    action_ns: follow_joint_trajectory
    default: true