Removed outdated controllers, added controllers to be merged upstream #26
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amalnanavati
approved these changes
Aug 25, 2021
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LGTM.
This PR is mostly the same as personalrobotics/rewd_controllers#41 , with the addition of an optional feature to pass on a joint mode handle. Therefore, I did a specific review of lines around mode_handle_ and JointModeInterface, and am approving the rest of it on the grounds that it is unchanged from the rewd_controllers PR, which I already approved.
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Copied PR from upstream here for use while that is being reviewed.
ros-controls/ros_controllers#569
With added functionality:
Set param
mode_handleto automatically set the joint mode to Position / Velocity / Effort on controller start.