Difference ros_controllers.yaml and controllers.yaml

Course Support ROS Control 101
1

Hi,

During the course you are adding a file called controllers.yaml to the generated moveit_config pkg. When I generate a new package with my own robot files I don’t get an empty ros_controllers.yaml file, instead it looks very similar to your manually written controllers.yaml.
Is this an update of the MSA and will I still have to make the controllers.yaml file or is this not necessary anymore?

2

Hello @carlos.giese14,

First of all, sorry for the late response. You are right, in the latest MoveIt versions a “ros_controllers” file is automatically generated, so it’s no longer necessary to manually create it (although you might need to modify something in this file). This will be updated in the next iterations of the course.

Best,