How important is actlib for joint_trajectory control
I have a little doubt that what is the best way to interface joint_trjectory controller with the robot with more than two joints. For example if i have seen how i can control all joint one by one by interfacing transmission element in them and than using some joint effort controllers to them. But i want to use joint trajectory controller instead and than by using kinematics i want to move a robot. As i found this page i also need to understand actlib if i want to control joint trajectory of the robot. So why should i use this actlib for joint_trajectory control exactly, i don't get it. And isn't their similar tutorial for ros indigo, cas as much i have seen the pr2 tutorials most them are old and for ros grovy or furtle. So what is the important of actlib for robot control, basically. Is this necessary?
