MSA: write the default controller namespace (moveit#1515)

* Write the default controller namespace * Check for a sane controller type * Revert the check for FollowJointTrajectory type
KanRobotics · Aug 17, 2022 · 066e862 · 066e862
1 parent e89526d
commit 066e862
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/moveit_setup_assistant/moveit_setup_controllers/src/moveit_controllers_config.cpp b/moveit_setup_assistant/moveit_setup_controllers/src/moveit_controllers_config.cpp
@@ -187,6 +187,12 @@ bool MoveItControllersConfig::GeneratedControllersConfig::writeYaml(YAML::Emitte
         emitter << YAML::BeginMap;
         {
           emitter << YAML::Key << "type" << YAML::Value << controller.type_;
+          if (controller.type_ == "FollowJointTrajectory")
+          {
+            emitter << YAML::Key << "action_ns" << YAML::Value << "follow_joint_trajectory";
+            emitter << YAML::Key << "default" << YAML::Value << "true";
+          }
+
           // Write joints
           emitter << YAML::Key << "joints";
           emitter << YAML::Value;