# MoveIt uses this configuration for controller management
trajectory_execution:
  trajectory_duration_monitoring: false
  allowed_execution_duration_scaling: 2.0 # Wait for moves to finish without timeout
  allowed_goal_duration_margin: 2.0

moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:
  controller_names:
    - arm_controller

  arm_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - base_rot
      - base_link1_joint
      - link1_link2_joint
      - link2_rot
      - link2_link3_joint
      - link3_rot
