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Hi ! I think you want your type definition in controller_config.yaml to be of written like this :

forward_position_controller: type: forward_command_controller/ForwardCommandController

Hi ! I think you want your type definition in controller_config.yaml to be of written like this :

~~forward_position_controller: type: forward_command_controller/ForwardCommandControllerforward_command_controller/ForwardCommandController~~

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