multiple hardware interfaces on a single joint
Hi!
I'm trying to implement a controller that can switch between torque control and position control based on user's needs. It seems to me that I need to assign multiple hardware interfaces to every single joint in urdf and spawn both position controller and effort controller during launch. But is that even allowed?
I also skimmed through the ros_controllers repository on github and it seems I can also use feedforward controller to achieve what I mentioned above. But I can't find any documentations or even questions posts related to that controller. For the controller, can I pass more than one command in the controller? And can I change the type of command during operation?
+1 on this. Did you manage to find a solution?
+1 I am also interested in that question.