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Removed outdated controllers, added controllers to be merged upstream #26

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merged 2 commits into from
Aug 25, 2021

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egordon
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@egordon egordon commented Aug 24, 2021

Copied PR from upstream here for use while that is being reviewed.

ros-controls/ros_controllers#569

With added functionality:
Set param mode_handle to automatically set the joint mode to Position / Velocity / Effort on controller start.

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@amalnanavati amalnanavati left a comment

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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.

@egordon egordon merged commit 1ed953e into master Aug 25, 2021
@egordon egordon deleted the egordon/controls branch August 25, 2021 01:28
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