Christoph Fröhlich

> May I ask then also to you an opinion on this? It seems that the gazebo-PR has a chance to get merged -> let's wait for that to avoid...

I'm not sure if we should include all such small details in example1, like we have already with switching controllers etc. Could get a bit packed then?! But creating new...

I understand the need for it, we also implemented this with the `~/controller_state` message of the joint_trajectory_controller. But I think your proposal would need some changes to the ressource_manager, because...

Yes it would be an addition for simpler controllers, but no replacement for the JTC's publisher for example: There you have the sampled trajectory, the feedback from sensors, and controller...

I'm not sure how gazebo with gz_ros2_control behaves with passive joints. But one suggestion for gazebo_ros2_control would be to implement a high-gain feedback on the effort or velocity interface from...

I don't see why it should not work now. How do you spawn your controllers? Can you please add the output of `ros2 control list_hardware_interfaces ` and `ros2 control list_hardware_components...

Why don't you use two different controllers, and switch them depending on your control mode? Like we do it in [example_1](https://control.ros.org/master/doc/ros2_control_demos/example_1/doc/userdoc.html)?

> Can I extend the steering_controllers_library to handle AckermannDrive msg types as well? Right now it seems that it only handles Twist messages What do @destogl or @bmagyar think about...

As we have now the possibility to parse the URDF directly, it make sense to use the velocity limits directly from the wheel joints. see #949 for an example.

Please give us some information: your ROS distro, ros2_control version, your controller configuration yaml etc.