Dave Coleman

Okay, its mostly done now. I have documentation, a screenshot, a video, and a full RRBot example to run: https://github.com/davetcoleman/ros_control_boilerplate I would _really_ appreciate people who have worked on joint...

> Is there away to avoid listing joint names for the HW interface (real/sim)? You could just hard code them in the code... I don't think one would usually want...

@adolfo-rt i'd really appreciate your feedback on this. also, could you send me a code sample of joint limits and estop functionality?

@adolfo-rt thanks for your feedback, I have incorporated those changes [here](https://github.com/davetcoleman/ros_control_boilerplate/commit/a8512e836a5aeea302c7a0f49497d785ef9f63a1) - Uses Monotonic time - Write example (commented out) - Separated control loop into its own class - Changes...

I just want to give an update that I've been using this boilerplate extensively and have added joint limits support and a "simulation" interface for any robot to use. I've...

Yea, I could do a PR to ros_control. I think keeping its current name would be most appropriate, calling it just "boilerplate" would be too generic for the ros package...

Pass through just means that when you `write()` to a hardware interface, the same value is immediately returned in the `read()` call - no actual hardware is controlled but in...

I've had this lingering on my todo list but I do not think I will get to it anytime soon. Feel free to work on it yourself, thanks!

I think I side with @airballking that, even if the resulting behavior is not ideal, having position limits for the velocity joint saturation handle is important. I'd rather have a...

Indeed, I renamed the package from `robotiq_c2_model_visualization` to `robotiq_c2` and the problem went away. Note I did _not_ change any filenames or folder names. I think I have a better...