bailaC

@bmagyar , @destogl , can someone explain this?

I also propose to have Readme files for each example in their respective folder. So that the `ros2_control_demos` Readme file stays clean. Any thoughts @destogl , @bmagyar , @olivier-stasse

@bmagyar , @destogl you can assign this to me. I will work on this.

I think, you are pointing at, ``` header: stamp: sec: 1617109375 nanosec: 388138438 frame_id: '' name: - joint2 - joint3 - joint6 - joint4 - joint1 - joint5 position: ```...

@destogl , please find the observation below, While listing the hardware interfaces, printing the interface names at [this line](https://github.com/ros-controls/ros2_control/blob/8dfd5876c87f839fc092a08797410ee06f01fde4/hardware_interface/src/fake_components/generic_system.cpp#L60) File : /ros2_control/hardware_interface/src/fake_components/generic_system.cpp ``` $ ros2 control list_hardware_interfaces command interfaces joint1/position...

Yes, sure, I missed that.

Collecting the output from both `command_interfaces_` and `state_interfaces_` from [here](https://github.com/ros-controls/ros2_control/blob/8dfd5876c87f839fc092a08797410ee06f01fde4/controller_interface/src/controller_interface.cpp#L135) ``` [ros2_control_node-1] [INFO] [1617635704.310279983] [controller_manager]: Configuring controller 'joint_state_controller' [ros2_control_node-1] ControllerInterface : state interfaces : tcp_fts_sensor [ros2_control_node-1] ControllerInterface : state interfaces...

@bmagyar , do we need this anymore? If yes, can you please elaborate what will be the current expectations?

I see the code in 3 files, but they are somewhat modified. ``` src/ros2_controllers/joint_trajectory_controller/test/test_trajectory_actions.cpp: 94 auto end_time = start_time + wait; 95: while (rclcpp::Clock().now() < end_time) 96 { ``` ```...

@destogl Please check the draft PR. I think the main logic of the transition is missing. I will check again at my end.