/**:
  ros__parameters:

    moveit_controller_manager: "moveit_simple_controller_manager/MoveItSimpleControllerManager"

    moveit_simple_controller_manager:

      controller_names:
        - scaled_joint_trajectory_controller
        - joint_trajectory_controller


      scaled_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


      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
