ros_canopen Profile position + Interpolated position modes

edit

So the question is, what is the workaround here? :)

You can specify mixed modes

I suppose, that two arm_joint_controller groups shall be defined, one (joint1-3) with required_drive_mode: 7 and the other with required_drive_mode: 1

Much simpler: you can define a default mode (required_drive_mode, singular) and add a look-up (required_drive_modes, plural) for the others:

robot_5s_arm_joint_controller:
  type: "position_controllers/JointTrajectoryController"
  joints:
    - joint_1
    - joint_2
    - joint_3
    - joint_4
    - joint_5

  required_drive_mode: 7
  required_drive_modes:
    joint_4: 1
    joint_5: 1

or you set all explicitly:

robot_5s_arm_joint_controller:
  type: "position_controllers/JointTrajectoryController"
  joints:
    - joint_1
    - joint_2
    - joint_3
    - joint_4
    - joint_5

  required_drive_modes:
    joint_1: 7
    joint_2: 7
    joint_3: 7
    joint_4: 1
    joint_5: 1

Then simply, in the moveit controller yaml file, i can define these controllers? Is this enough?

Not needed.

Do i need to change the planning group defined in moveit?

Nope :)