controllers.yaml and fake_controllers.yaml are not being used

[DaniGarciaLopez]

I've noticed that the files controllers.yaml and fake_controllers.yaml under xarm_moveit_config/config/{robot} are no longer in use. Currently, the parameters for traj_controller are sourced from xarm_controller/config/{robot}_controllers.yaml.

What's the point of keeping these files? They can only lead to confusion for new users attempting to modify these values but not seeing any effect.

[vimior]

@DaniGarciaLopez xarm_controller/config/{robot}_controllers.yaml is used by joint_trajectory_controller/JointTrajectoryController. xarm_moveit_config/config/{robot}/controllers.yaml is used by __moveit_simple_controller_manager/FollowJointTrajectoryHandle__.

[DaniGarciaLopez]

Hi @vimior, in xarm_ros, I noticed that xarm_moveit_config/config/{robot}/controllers.yaml is actually being used. However, in xarm_ros2, I searched and found that only xarm_controller/config/{robot}_controllers.yaml is being sourced.

[vimior]

@DaniGarciaLopez xarm_moveit_config/config/{robot}/controllers.yaml is also used in xarm_ros2. The parameters in this file are used when starting the moveit_ros_move_group/move_group node. _robot_moveit_common.launch.py

[DaniGarciaLopez]

Ok, I see now the reference to the file here. I was trying to look for the full name of the file and that's why I could't find it. Thanks @vimior!