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Is it possible to spawn and use both a forward position controller and a forward velocity controller at the same time? My hardware interface supports torque, speed, and position (feedforward PID underneath) and I'd like to specify both speed and position targets without having to write a custom controller. Is this possible? Thanks!

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Yes, generally speaking this is possible. But then you have two topics for the commands.

I'd consider merging velocity_controllers/JointGroupVelocityController with a position_controllers/JointGroupPositionController into a custom one, where you use JointTrajectory as command topic.

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