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1 | initial version |
The joint_position_controller has sets current robot position as reference in starting
function because one doesn't want robot to move when controller is started.
For the effort one sets in starting
function effort to 0 because also one doesn't want robot to move. This would be possible to change by adding parameter where you can set start effort. For that one would inherit JointEffortController
and adapt init and starting functions to support that.