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MoveIt uses a controller manager plugin to turn it's internal plans (of type moveit_msgs::RobotTrajectory) into some form of output that robots actually understand.

The most widely used plugin is the MoveItSimpleControllerManager, which is found in moveit_plugins (https://github.com/ros-planning/moveit_plugins). This plugin turns the RobotTrajectory into a call to a control_msgs/FollowJointTrajectoryAction action server. If you already have a FollowJointTrajectoryAction action server, setup pretty much consists of entering your joint names and the namespace of the action server to a controllers.yaml and loading that yaml file.

If you don't have the standard FollowJointTrajectoryAction, you will either have to implement that action in your robot drivers/controllers, or create a new plugin that publishes the non-standard topics/actions you are using.

There are several examples of controllers.yaml with the simple plugin, which are found in moveit_robots package.

MoveIt uses a controller manager plugin to turn it's internal plans (of type moveit_msgs::RobotTrajectory) into some form of output that robots actually understand.

The most widely used plugin is the MoveItSimpleControllerManager, which is found in moveit_plugins (https://github.com/ros-planning/moveit_plugins). This plugin turns the RobotTrajectory into a call to a control_msgs/FollowJointTrajectoryAction action server. If you already have a FollowJointTrajectoryAction action server, setup pretty much consists of entering your joint names and the namespace of the action server to a controllers.yaml and loading that yaml file.

If you don't have the standard FollowJointTrajectoryAction, you will either have to implement that action in your robot drivers/controllers, or create a new plugin that publishes the non-standard topics/actions you are using.

There are several examples of controllers.yaml with the simple plugin, which are found in moveit_robots package.package (https://github.com/ros-planning/moveit_robots). I'm going to avoid posting those here, as copied code here is likely to eventually go out of date.