Hello,

I'm currently building a ros2control Hardware Interface for my 6DOF Robot Arm. Half the joints are velocity controlled, and the others are position controlled. I previously used two different controllers with great success, but Moveit2 Servo only supports a single controller. As such, I am currently combining the two hardwareinterfaces into one.

I can't figure out how to, in the controllers config (.yaml file), specify a different command interface for each joint. In my case, joints 1 to 3 do not have a position command interface, but joints 4 and 6 do. But the "command_interfaces:" tag applies to all the joints in the controller.

Any idea on what I should do?

Thank you,

Nicolas Hammje