added controller and changed rviz file name

Author: maditavomstein

my_robot_cell/my_robot_cell_control/config/ros2_controllers.yaml

@@ -24,6 +24,9 @@ controller_manager:
     ur_configuration_controller:
       type: ur_controllers/URConfigurationController
 
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
 ur_configuration_controller:
   ros__parameters:
     tf_prefix: "ur20_"
@@ -98,3 +101,30 @@ forward_position_controller:
       - ur20_wrist_1_joint
       - ur20_wrist_2_joint
       - ur20_wrist_3_joint
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - ur20_shoulder_pan_joint
+      - ur20_shoulder_lift_joint
+      - ur20_elbow_joint
+      - ur20_wrist_1_joint
+      - ur20_wrist_2_joint
+      - ur20_wrist_3_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.2
+      goal_time: 0.0
+      ur20_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
+      ur20_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
+      ur20_elbow_joint: { trajectory: 0.2, goal: 0.1 }
+      ur20_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
+      ur20_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
+      ur20_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }