@Sinai_Aranda: perhaps you can use [Danfoa/invite-robotics](
https://github.com/Danfoa/invite-robotics) as inspiration. It is for an SDA10, but that should be almost a search->replace action at this level.
The `invite_motoman_support` pkg shows you how to configure the `controller_joint_names` and the other required parameters.
Note that the pkgs in `Danfoa/invite-robotics` contain a lot of other things (for integration of a gripper fi) that you can ignore. Also note that they are essentially a customised version of the pkgs in `ros-industrial/motoman` and `ros-industrial/motoman_experimental`.
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