JointGroupPositionController initializes position at zeros
Hi, I have written a custom Hardware Interface for the Allegro Hand. Whenever I initialize it using a FollowJointTrajectory controller it keeps the original position. But whenever I initialize it using a JointGroupPositionController it moves all of the joints to zero, which is something I do not desire and think might be dangerous to move without the user wanting it to.
Is there a way to initialize the position at the original position and wait for a command to move it?
Please provide a link to exactly which JointGroupPositionController package you are using (there are many variants out there.)
I am using the following controller from ros_control link