I'm trying to get a teleoperation demo on noetic and the ideal tutorial on MoveIt is broken. I'd like to try fixing and running it and hopefully then I'll submit a PR to update the tutorial.

Link to MoviIt: Realtime Arm Servoing

Errors solved so far:

1. The files in packages mentioned in the launch files have changed name. I've listed the current and corrected names below:

• "roslaunch urgazebo ur5.launch" ---> "roslaunch urgazebo ur5_bringup.launch"
• "roslaunch ur5moveitconfig ur5moveitplanning_execution.launch sim:=true" ---> "roslaunch ur5moveitconfig moveitplanningexecution.launch sim:=true"
• "roslaunch ur5moveitconfig moveitrviz.launch config:=true" --> "roslaunch ur5moveitconfig moveitrviz.launch"

1. The listed controllers under switch controller are incorrect.

• There is no controller listed as "arm controller". The running controller is "effjointtraj_controller" which is an effort controller
• Running "rosservice call /controllermanager/listcontrollers" shows another controller to switch to, but doing so only appears to break things. The robot in gazebo just collapses on itself.
• None of the listed controllers are JointGroupVelocity or JointGroupPosition as the tutorial recommends switching to.

1. There are issues in launching the Space mouse, which I will debug after teleop through the terminal is successful.
   

Help Needed:

1. Any pointers to modifying or setting up a correct controller to make this teleop example work! It feels like I'm so close to getting it running but missing one step that might be obvious to someone more familiar with the workings or MoveIt.

(PS - I've followed install exactly as per the tutorial: Vanilla install of ROS noetic on Ubuntu 20.04, and "git clone -b 1.2.7 https://github.com/ros-industrial/universal_robot" with all dependencies)