I have been studying ros_control and how to use it for a while now, but I still have a few questions. I have made a list of the questions I have been unable to answer, and I would appreciate it someone could help me find answers.
The velocity and position controllers are listed twice here: http://wiki.ros.org/ros_control#Controllers. (Both are under "effort_controllers", and then each is under their own section.) Is that just a typo, or am I missing something?
I was not planning to have sensors that could feed a JointStateInterface implementation. (My robot is car-like, and I believe that higher-level feedback from IMU and GPS sensors will be sufficient.) I'm thinking that I will write my hardware interface implementation to just echo the set point back as the current state. Should that work? Has anyone else done that before?
I have had a difficult time understanding the role of transmissions with regards to Gazebo. The Gazebo documentation seems to suggest that a transmission is required for each joint. I think it's because the Gazebo plugin is unable to read the YAML file used by ROS controller manager to determine whether to use a velocity, effort, or position controller. Do I have that right?
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