Single arm support in Kinetic

movo_7dof_moveit_config/config/controllers_left_only.yaml

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+controller_list:    
+  - name: "movo/left_arm_controller"
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+     - left_shoulder_pan_joint
+     - left_shoulder_lift_joint
+     - left_arm_half_joint
+     - left_elbow_joint
+     - left_wrist_spherical_1_joint
+     - left_wrist_spherical_2_joint
+     - left_wrist_3_joint
+
+  - name: "movo/torso_controller"
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - linear_joint
+
+  - name: "movo/head_controller"
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - pan_joint
+      - tilt_joint
+
+  - name: "movo/left_gripper_controller"
+    action_ns: gripper_cmd
+    type: GripperCommand
+    default: true
+    joints:
+      - left_gripper_finger1_joint
+

movo_7dof_moveit_config/config/controllers_right_only.yaml

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+controller_list:
+  - name: "movo/right_arm_controller"
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+     - right_shoulder_pan_joint
+     - right_shoulder_lift_joint
+     - right_arm_half_joint
+     - right_elbow_joint
+     - right_wrist_spherical_1_joint
+     - right_wrist_spherical_2_joint
+     - right_wrist_3_joint
+
+  - name: "movo/torso_controller"
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - linear_joint
+
+  - name: "movo/head_controller"
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - pan_joint
+      - tilt_joint
+
+  - name: "movo/right_gripper_controller"
+    action_ns: gripper_cmd
+    type: GripperCommand
+    default: true
+    joints:
+      - right_gripper_finger1_joint
+

movo_7dof_moveit_config/config/fake_controllers_left_only.yaml

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+controller_list:
+  - name: fake_left_arm_controller
+    joints:
+      - left_shoulder_pan_joint
+      - left_shoulder_lift_joint
+      - left_arm_half_joint
+      - left_elbow_joint
+      - left_wrist_spherical_1_joint
+      - left_wrist_spherical_2_joint
+      - left_wrist_3_joint
+  - name: fake_torso_controller
+    joints:
+      - linear_joint
+  - name: fake_left_gripper_controller
+    joints:
+      - left_gripper_finger1_joint
+  - name: fake_head_controller
+    joints:
+      - pan_joint
+      - tilt_joint
+  - name: fake_left_side_controller
+    joints:
+      - linear_joint
+      - left_shoulder_pan_joint
+      - left_shoulder_lift_joint
+      - left_arm_half_joint
+      - left_elbow_joint
+      - left_wrist_spherical_1_joint
+      - left_wrist_spherical_2_joint
+      - left_wrist_3_joint
+  - name: fake_upper_body_controller
+    joints:
+      - linear_joint
+      - left_shoulder_pan_joint
+      - left_shoulder_lift_joint
+      - left_arm_half_joint
+      - left_elbow_joint
+      - left_wrist_spherical_1_joint
+      - left_wrist_spherical_2_joint
+      - left_wrist_3_joint
+      - pan_joint
+      - tilt_joint

movo_7dof_moveit_config/config/fake_controllers_right_only.yaml

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+controller_list:
+  - name: fake_right_arm_controller
+    joints:
+      - right_shoulder_pan_joint
+      - right_shoulder_lift_joint
+      - right_arm_half_joint
+      - right_elbow_joint
+      - right_wrist_spherical_1_joint
+      - right_wrist_spherical_2_joint
+      - right_wrist_3_joint
+  - name: fake_torso_controller
+    joints:
+      - linear_joint
+  - name: fake_right_gripper_controller
+    joints:
+      - right_gripper_finger1_joint
+  - name: fake_head_controller
+    joints:
+      - pan_joint
+      - tilt_joint
+  - name: fake_right_side_controller
+    joints:
+      - linear_joint
+      - right_shoulder_pan_joint
+      - right_shoulder_lift_joint
+      - right_arm_half_joint
+      - right_elbow_joint
+      - right_wrist_spherical_1_joint
+      - right_wrist_spherical_2_joint
+      - right_wrist_3_joint
+  - name: fake_upper_body_controller
+    joints:
+      - linear_joint
+      - pan_joint
+      - tilt_joint
+      - right_shoulder_pan_joint
+      - right_shoulder_lift_joint
+      - right_arm_half_joint
+      - right_elbow_joint
+      - right_wrist_spherical_1_joint
+      - right_wrist_spherical_2_joint
+      - right_wrist_3_joint

movo_7dof_moveit_config/config/kinematics_left_only.yaml

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+left_arm:
+  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05
+  kinematics_solver_attempts: 5
+  solve_type: Distance
+left_side:
+  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05
+  kinematics_solver_attempts: 5
+  solve_type: Distance

movo_7dof_moveit_config/config/kinematics_right_only.yaml

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+right_arm:
+  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05
+  kinematics_solver_attempts: 5
+  solve_type: Distance
+right_side:
+  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05
+  kinematics_solver_attempts: 5
+  solve_type: Distance