Understanding the MoveIt configuration of a Universal Robots arm

The MoveIt configuration for Universal Robots arms is in the config directory of each moveit_config package (ur10_moveit_config for the UR-10 configuration).

Here is the default content of the controller.yaml file of UR-10:

controller_list: 
  - name: "" 
    action_ns: follow_joint_trajectory 
    type: FollowJointTrajectory 
    joints: 
      - shoulder_pan_joint 
      - shoulder_lift_joint 
      - elbow_joint 
      - wrist_1_joint 
      - wrist_2_joint 
      - wrist_3_joint 

To properly connect the MoveIt side, we must set the correct action_ns element. Let's change this file in the following way:

controller_list: 
  - name: ...