2024-9-23_L/reyuan/robot_config/launch/fake_moveit_controller_manager.launch.xml

<launch>

  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
  <arg name="fake_execution_type" default="interpolate" />

  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>

  <!-- The rest of the params are specific to this plugin -->
  <rosparam subst_value="true" file="$(find robot_config)/config/fake_controllers.yaml"/>

</launch>