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move_arm uses the control_msgs::FollowJointTrajectoryAction action to communicate with the arm controller. You can design the controller however you wish, as long as you expose an action server that takes this message and provides results when the actions are finished. The PR2 modules that expose this API are held in pr2_controllers/robot_mechanism_controllers as a reference. There has also been working writing such interfaces for industrial robots. For some references please see http://code.google.com/p/swri-ros-pkg/ .