I work with the franka panda robot using moveit and have a question about switching controllers. Is it possible to configure multiple controllers in the moveit_controllers.yaml file, for example position and effort controller:
controller_list:
name: effort_joint_trajectory_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
name: position_joint_trajectory_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
and switch them during runtime while the moveit node is constantly running? Right now I have the issue that moveit is only sending the trajectory to the default controller, even if I stop the default controller and run the other one instead. In the franka control node I get the error
Can't accept new action goals. Controller is not running.
Is there a way to switch the controllers during runtime while using moveit ? Thanks in advance!
