Which topic should I select on URSim?

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Hello

I want to control UR5 e series with ROS. Then some topic exist as command for UR on URSim.

I want to control URSim by sending its joint velocity. So now,I send joint velocity to the topic which is named /joint_group_vel_controller/command.

But on URSim,any other topic for command exist. For example, /scaled_pos_traj_controller/command.

To control by joint velocity, which is correct? which is generally used?

Thank you for answering.