# MoveIt uses this configuration for controller management

moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:
  controller_names:
    - e1_group_controller
    - e2_group_controller
    - e3_group_controller
    - e4_group_controller
    - e5_group_controller
    - e6_group_controller

  e1_group_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - c1_joint
      - f1_joint
      - t1_joint
    action_ns: follow_joint_trajectory
    default: true

  e2_group_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - c2_joint
      - f2_joint
      - t2_joint
    action_ns: follow_joint_trajectory
    default: true

  e3_group_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - c3_joint
      - f3_joint
      - t3_joint
    action_ns: follow_joint_trajectory
    default: true

  e4_group_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - c4_joint
      - f4_joint
      - t4_joint
    action_ns: follow_joint_trajectory
    default: true

  e5_group_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - c5_joint
      - f5_joint
      - t5_joint
    action_ns: follow_joint_trajectory
    default: true

  e6_group_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - c6_joint
      - f6_joint
      - t6_joint
    action_ns: follow_joint_trajectory
    default: true