Can you provide an example of publishing commands using the /arm_controller/command topic in the terminal?

edit

Here's an example of me trying to publish trajectory_msgs/JointTrajectory to the gazebo UR10 robot.

rostopic pub -r 1 /arm_controller/command trajectory_msgs/JointTrajectory "header:
seq:0
stamp:
  secs: 0
  nsecs: 0
  frame_id: ''
joint_names: - 'shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint'
  points:
  - positions: [1]
    velocities: [1]
    accelerations: [0]
    effort: [0]
    time_from_start: {secs: 1, nsecs: 0}"

The error that I receive is: Cannot create trajectory from message. It does not contain the expected joints.

Could you please provide an example of publishing valid commands to the robot in gazebo?

Update: Posting my yamal file (This is arm_controller_ur10.yamal file found in ur_gazebo)

arm_controller:
  type: position_controllers/JointTrajectoryController
  joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint
  constraints:
      goal_time: 0.6
      stopped_velocity_tolerance: 0.05
      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
      elbow_joint: {trajectory: 0.1, goal: 0.1}
      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate:  25
  action_monitor_rate: 10
joint_group_position_controller:
  type: position_controllers/JointGroupPositionController
  joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint