After creating the MoveIt! configuration, we should update the controllers.yamlfile inside the config folder of the MoveIt! package. Here is an example of controllers.yaml:

controller_list: 
  - name: "" 
    action_ns: follow_joint_trajectory 
    type: FollowJointTrajectory 
    joints: 
      - shoulder_pan_joint 
      - shoulder_lift_joint 
      - elbow_joint 
      - wrist_1_joint 
      - wrist_2_joint 
      - wrist_3_joint

We should also update joint_limits.yaml about the joint information. Here is a code snippet of joint_limits.yaml:

joint_limits: 
  shoulder_pan_joint: 
    has_velocity_limits: true 
    max_velocity: 2.16 
    has_acceleration_limits: true 
    max_acceleration: 2.16 

We can also change the Kinematic solver plugin by editing the kinematics.yaml file. After editing all the configuration files, we need to edit the controller manager launch file (<robot>_moveit_config/launch/<robot>_moveit_controller_manager.launch).

Here is an example of the controller manager.launch file:

<launch> 
 
  <rosparam file="$(find ur10_moveit_config)/config/
     controllers.yaml"/> 
 
  <param name="use_controller_manager" value="false"/> 
 
  <param name="trajectory_execution/execution_duration_monitoring" 
     value="false"/>  <param name="moveit_controller_manager" value=
     "moveit_simple_controller_manager/
       MoveItSimpleControllerManager"/> 
</launch> 

After creating the controller manger, we need to create the <robot>_moveit_planning_execution.launch file. Here is an example of this file:

<launch> 
  <arg name="sim" default="false" /> 
  <arg name="limited" default="false"/> 
  <arg name="debug" default="false" /> 
 
  <!-- Remap follow_joint_trajectory --> 
  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/> 
 
  <!-- Launch moveit -->

  <include file="$(find ur10_moveit_config)/launch/move_group.launch"> 
    <arg name="limited" default="$(arg limited)"/> 
    <arg name="debug" default="$(arg debug)" /> 
  </include> 
</launch>