joint_state_controller required for diff_drive_controller?
Is joint_state_controller
required when working with diff_drive_controller
? Or is joint_state_controller
only required to publish JointState
messages for other nodes and not relevant for diff_drive_controller
to function properly?
For example eborghi10/my_ROS_mobile_robot uses two yaml config files, one containing diff_drive_controller/DiffDriveController
as expected and the other one contains joint_state_controller/JointStateController
and even effort_controllers/JointEffortController
. Are these controllers really required?