ros_control

Controllers

• gravity compensation effort with dynamics
• joint group position effort with dynamics
• trajectory effort
  • with dynamics
• move until touch with dynamics
• stateful position command
• stateful trigger

WAM/HERB

• correct initialization sequence for hand
• correct/safe initialization of multiple WAMs
• all controllers tested on HERB: multiple simultaneously
• backport ros_control controllers into herbpy and prpy

Utility

• ros_control_client_py
  • trigger client
  • position command client