MoveIt! with rtt_ros_control_embedded

As the other packages, we’ll use the run.launch from lwr_utils that we duplicated in the lwr_moveit_config package for custom arguments.

roslaunch lwr_moveit_config run.launch sim:=true

Then you can list available ros_control controllers :

rosrun controller_manager controller_manager list


These commands launch the following RTT Components :

o gazebo
o lwr_sim
o rtt_ros_control_embedded
    --> controller_manager
    --> hardware interface

Then you have access to the full ros_control interface as a normal ROS module, so you can create you own ros_controllers.