Dr. Denis

> dear @destogl I checked the Examples and it was useful for me. thank you for that. finally I think i have too write my custom package or plugin for...

Hi, This is a correct place for this, because it is a bug fix on the framework. This should be managed by internal flags that are set in "prepare_command_mode_switch" and...

> Just to clarify, are you suggesting that the aforementioned flags need be added to the base [`Actuator`](https://github.com/ros-controls/ros2_control/blob/a11638d9e3c4acf675ad633bd9854efe8351e7cc/hardware_interface/src/actuator.cpp) / [`System`](https://github.com/ros-controls/ros2_control/blob/d58ecf1dc981aa80b63eb2aa7195730237a3da65/hardware_interface/src/system.cpp) implementations? I was also thinking about hat, but since flags...

I was just looking at it because my controller is crashing everything :D We can cover all in controller_interface except `init` call. This is really propagated through inheritance. For other...

Hi @byeongkyu, This is very fascinating topic and I will write here how I am solving this issues with my customers. I wanted to explain you this today, but I...

Hi @byeongkyu, sorry for taking me so long time. Here the explanation "how I would solve this": - There is now lifecycle of the hardware also according to the [`LifecycleNode`](https://design.ros2.org/articles/node_lifecycle.html)...

For now I think you have to only add a new launch file and then load both `controllers.yaml` file to it

> OK I'll stay quiet on this. How about raising the same question on ros discourse? Would help involving more ppl I don't know about that. I would like to...

> I saw there's now a separate hardware plug-in for fake components. I'm not sure how to switch between that and the real hardware plug-in. I will add this into...

I agree, but then we have to add `type` argument in XML structure. Or how we should communicate how to parse the value? ## Things to do - extend `hardware_interface/component_parser`...