# moveit and action server, need concept clarity

I learned that moveit requires an action server. And they communicate with joint_trajectory_action.

Q1) My question is, wat exactly goes inside the action server?

Q2) Does the action server command the controllers through joint_trajectory_action/command/(trajectory_msgs/JointTrajectory) ??

for the sake of the question, let's consider controlling a 6 DOF arm,

Q3) will u pls give a clear map(like wat topics go where) between action server, moveit, rviz (i pass poses here), controllers and gazebo.

Q4) pls share an example project/code, tried googling, braccio_arm.py (couldnt understand it). I understood the concepts of actionlib

Q1 contd) Is the action server expected to simply breakdown the goal into small increments for the controllers? position controllers seem to work fine even when given a command of 1 radian difference.

ROS melodic, gazebo 9, ubuntu bionic

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