Valeriy Novytskyy comments

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                                            Valeriy Novytskyy

Improve tutorial on writing custom controller handles

After including the `ros_control_interface` as a dependency in `package.xml` and `CMakeLists`, I decided to dump all header paths known by CMake by using this trick: [How to Print Variable in...

Improve tutorial on writing custom controller handles

I was trying to guess the header name because `#include ` was not found.

Improve tutorial on writing custom controller handles

It could be that the lack of documentation left me confused, let me look into this on the weekend and see if a brand new catkin package can build when...

Improve tutorial on writing custom controller handles

All right, how does this look? It turns out that documenting how to integrate ROS controllers with MoveIt in sufficient depth will probably require a sub-topic (I imagine we'll need...

Improve tutorial on writing custom controller handles

> I just re-checked the existing documentation and found this [low-level controller tutorial](https://ros-planning.github.io/moveit_tutorials/doc/controller_configuration/controller_configuration_tutorial.html). The [low-level controller tutorial](https://ros-planning.github.io/moveit_tutorials/doc/controller_configuration/controller_configuration_tutorial.html) page you are referring to is the last one I read before I...

Improve tutorial on writing custom controller handles

> However, I still don't really understand your actual problem. MoveIt documentation does not clearly explain how controller integration works, and therefore understanding this requires building MoveIt from source and...

Improve tutorial on writing custom controller handles

Posted the third draft of my proposed improvements in the appropriate repo `moveit_tutorials`. We can close/delete this issue and continue further discussion there if you prefer.

Expand the controller tutorial to include ros_control and fake_controllers

> This is correct. Note that the ros_control MoveIt controller manager is not intended to support the GripperCommand action. @rhaschke would this be something you would like a PR for,...

Expand the controller tutorial to include ros_control and fake_controllers

@rhaschke could you help me unravel the confusion around gripper action controller? New MoveIt project created by MSA is setup as follows: - `demo.launch` (Launch in RViz visualization only): uses...

Expand the controller tutorial to include ros_control and fake_controllers

If you were to describe why Gripper Action Controller exists, would you say it's for "simple usage scenarios"? As in, it lets you setup a new robot in the fastest...