Now, we need to connect our robot with Moveit for manipulation through the ROS controllers we defined. Click Auto Add FollowJointsTrajectory Controllers For Each Planning Group. You should see the controller being automatically ported in, as shown here:
Moveit Setup ROS Controllers
The FollowJointTrajectory plugin we had called upon in our plugin is shown in the preceding screenshot. Now, let's finalize the Moveitconfig package.