Dr. Denis

Hi @LuisYordano, the issue here is that the "effort_controllers/JointPositionController" is not ported/implemented in ros2_controllers. If you would have time to tackle this, I would be glad to support you!

@christophfroehlich since we are adding more parameters for mimic joints (rightly so!) I would propose that we update our parser on that. The proposal would be to implement this syntax...

> just a sidenote: your code example with different command_interfaces won't work without my proposed changes by this PR. Yes, of course! Your code is great, but I would just...

> I created this quickly when trying to help someone where when running with sim time and gazebo this loop ran at an uncontrolled rate. This cut the runaway behavior...

> I've been using the `JointTrajectoryController` to command a couple of ABB industrial robots. I'm using [this](https://github.com/PickNikRobotics/abb_ros2) hardware interface implementation. I notice that once the controller starts and the command...

> I am developing an application that needs both configure and delete ROS2 controllers. I am trying to figure out the best way to delete a controller manager node. Which...

Are you sure that the controller was not exported at some time before? I have rather different experience that we get false positives than false negatives on this test.

~~I'll close this because it is unclear if there is really an issue in our library or your code. You are welcome to continue commenting and reopen when you are...

This looks great!! Thanks! I test it and it works. It would be great if you can support all the transitions we have in the lifecycle (except to error, finalized...

> Could you help me write out all the states and transitions? The controller lifecycle seems slightly different to the [ROS 2 Node Lifecycle](https://design.ros2.org/articles/node_lifecycle.html). The states are actually the same...