I think the best available document for setting controller manager for MoveIt! is available from [this QA post](http://answers.ros.org/question/167501/how-to-solve-parameter-moveit_controller_manager-not-specified/), which is not sufficient for me to do my task. Is there another document for this?
I have a controller (w/o source code) that takes [trajectory_msgs/JointTrajectory](http://docs.ros.org/api/trajectory_msgs/html/msg/JointTrajectory.html). I tried controller manager setting as below but still get the error.:
Created 99 (49 start + 50 goal) states in 75 cells (40 start (40 on boundary) + 35 goal (35 on boundary))
[ INFO] [1413825616.200813156]: Solution found in 0.828512 seconds
[ INFO] [1413825616.284702791]: Path simplification took 0.083540 seconds
[ INFO] [1413825625.393148074]: Received new trajectory execution service request...
[ERROR] [1413825625.393265662]: Unable to identify any set of controllers that can actuate the specified joints: [ CARM/ELBOW_P CARM/LINEAR CARM/SHOULDER_P CARM/SHOULDER_R CARM/SHOULDER_Y CARM/WRIST_P CARM/WRIST_R CARM/WRIST_Y ]
Some values are just my random guess from looking at what others do (eg. [maxwell](https://github.com/mikeferguson/maxwell/tree/indigo-devel/maxwell_moveit_config/config), [pr2](http://moveit.ros.org/wiki/PR2/Execution_of_Trajectories_with_MoveIt!)).
X_moveit_config/config/controllers.yaml
controller_list:
- name: arm_controller # Can it be anything or is this specified somewhere?
action_ns: joint_trajectory # Can it be anything or is this specified somewhere?
type: JointTrajectory
default: true
joints:
- ARMGR/LINEAR
- ARMGR/SHOULDER_Y
- ARMGR/SHOULDER_R
- ARMGR/SHOULDER_P
- ARMGR/ELBOW_P
- ARMGR/WRIST_Y
- ARMGR/WRIST_R
- ARMGR/WRIST_P
- name: gripper_controller # Can it be anything or is this specified somewhere?
type: HandMove
action_ns: gripper_action # Can it be anything or is this specified somewhere?
default: true
joints:
- ARMGR/HAND/JOINT_1
- ARMGR/HAND/JOINT_2
X_moveit_config/launch/X_moveit_controller_manager.launch
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