Dynamixel motors with external potentiometers

edit

Hi We are currently working on a dexterous hand project, where we are using Dynamixel XC330-M288-T actuators. For this we would like to control the motors using current-pased position control, however since we use flexible tendons for transmission we want to use the external potentiometers in the joints instead of the built-in motor encoders. We want to be able to use the moveit packages to control the robot. How should we go about creating the hardware_interface with ros_control? Should we create our own controller or can we use the effort_joint_controller in ROS? Thank you in advance. Kind regards, Anders