Hello community,

I would like to implement an IK solver as a ros2_controller, preferably using the ChainableControllerInterface. As a simple block diagram (all blocks are ros2_control interfaces, updated in the control loop):

[Pose Generator] - target pose -> [IK solver] - joint position -> [Hardware Interface]

One approach would be to use a realtime publisher / subscriber, but how could this be done using the new ChainableControllerInterface?

Specifically, I would like to know how to export a pose interface in controller_interface::ChainableControllerInterface::on_export_reference_interfaces(), if my output interface are hardware_interface::HW_IF_POSITION.

Kind regards, Vinc