MoveIt! comes with a series of fake trajectory controllers to be used in simulation. For example, the
demo.launch generated by MoveIt’s setup assistant, employs fake controllers for nice visualization in RViz.
For configuration, edit the file
config/fake_controllers.yaml, and adjust the desired controller type. The following controllers are available:
rate: 10 (Hz, used for interpolation controller) controller_list: - name: fake_manipulator_controller joints: - motor1 - motor2 - motor3 - motor4 - motor5 - motor6 - name: fake_endeffector_controller joints: 
In order to load an initial pose, one can have a list of (group, pose) pairs as follows:
initial: - group: arm pose: ready