Ethan K. Gordon

Made the recommended changes to be more general, and tested that it works for my use case, though noting that, right now, the `map_structure` won't make much of a difference,...

Test code (Python 3): [test_JointGroupCommandAction.txt](https://github.com/ros-controls/ros_controllers/files/6634779/test_JointGroupCommandAction.txt) Tested behaviors: * actionlib velocity commands (0.1, -0.1) with timeouts (0, 1, 5, 15) * Preempted actionlib goal using the `/command` subscriber interface during goal...

I'm partial to the first approach to keep the interfaces consistent (and potentially One question is whether we can co-opt existing control_msgs. For example, [JointJog](https://docs.ros.org/en/api/control_msgs/html/msg/JointJog.html) is close and could work...

Drafts up, they build. Need to test them on our end (and ideally build unit tests if those exist in this repo). What are the policies here for PR reviews...

@bmagyar The changes were implemented on tested on our lab's Kinova JACO2. Ready for review, I'm prepared to make any necessary modifications to adhere to any review policies. Thank you!

Outdated, to consider for later

Added #628 , which partially solves this issue. The biggest thing that needs to be added is a true Twist function that allows for angles greater than PI.

Resolved by the Robot API overhaul (#593 )

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