Launching with velocity controller allows direct control on individual arm joint velocities with brics_actuator/JointVelocities whereas the default uses trajectory controller which is used by moveit.
Unfortunately, both cannot be started at the same time since both controller would control the same joint and gazebo does not allow that.
Additional dependency:
ros-melodic-effort-controllerTo launch youbot arm with joint vel controller
To launch entire youbot
Launching with velocity controller allows direct control on individual arm joint velocities with
brics_actuator/JointVelocitieswhereas the default uses trajectory controller which is used by moveit.Unfortunately, both cannot be started at the same time since both controller would control the same joint and gazebo does not allow that.