Update defintion of test goals to new version. (backport #637) (#668)

* Update defintion of test goals to new version.

(cherry picked from commit be9bc9a)

* Apply suggestions from code review

(cherry picked from commit b7328c7)

---------

Co-authored-by: Denis Štogl <[email protected]>

Author: mergify[bot]

ur_robot_driver/config/test_goal_publishers_config.yaml

@@ -5,10 +5,14 @@ publisher_scaled_joint_trajectory_controller:
     wait_sec_between_publish: 6
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
-    pos1: [0.785, -1.57, 0.785, 0.785, 0.785, 0.785]
-    pos2: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
-    pos3: [0.0, -1.57, 0.0, 0.0, -0.785, 0.0]
-    pos4: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
+    pos1:
+      positions: [0.785, -1.57, 0.785, 0.785, 0.785, 0.785]
+    pos2:
+      positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
+    pos3:
+      positions: [0.0, -1.57, 0.0, 0.0, -0.785, 0.0]
+    pos4:
+      positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
 
     joints:
       - shoulder_pan_joint
@@ -34,10 +38,14 @@ publisher_joint_trajectory_controller:
     wait_sec_between_publish: 6
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
-    pos1: [0.785, -1.57, 0.785, 0.785, 0.785, 0.785]
-    pos2: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
-    pos3: [0.0, -1.57, 0.0, 0.0, -0.785, 0.0]
-    pos4: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
+    pos1:
+      positions: [0.785, -1.57, 0.785, 0.785, 0.785, 0.785]
+    pos2:
+      positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
+    pos3:
+      positions: [0.0, -1.57, 0.0, 0.0, -0.785, 0.0]
+    pos4:
+      positions: [0.0, -1.57, 0.0, 0.0, 0.0, 0.0]
 
     joints:
       - shoulder_pan_joint