Change moveit controllers yaml to reflect single controller

stretch_moveit_config/config/ros_controllers.yaml

@@ -4,7 +4,7 @@ joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 50
 controller_list:
-  - name: stretch_arm_controller
+  - name: stretch_controller
     action_ns: follow_joint_trajectory
     default: True
     type: FollowJointTrajectory
@@ -15,17 +15,7 @@ controller_list:
       - joint_arm_l1
       - joint_arm_l0
       - joint_wrist_yaw
-  - name: stretch_head_controller
-    action_ns: follow_joint_trajectory
-    default: True
-    type: FollowJointTrajectory
-    joints:
       - joint_head_pan
       - joint_head_tilt
-  - name: stretch_gripper_controller
-    action_ns: follow_joint_trajectory
-    default: True
-    type: FollowJointTrajectory
-    joints:
       - joint_gripper_finger_left
       - joint_gripper_finger_right