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I tested that I can run that controller with warning...

 rosrun pr2_controller_manager pr2_controller_manager start MyControllerClass

But I found one doc bug?

 double desired_pos = init_pos_ + 0.5 * sin(ros::Time::now().toSec());

When I change 0.5 to 30, pr2 will move smoothly on sine wave like webpage says. But if I use 0.5 it just move very little.

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