Richard Mark Haes Ellis

It seems that there is implementation of this feature in the ControllerInterface class but not sure how it's used in the controllers. https://github.com/ros-controls/ros2_control/blob/master/controller_interface/src/controller_interface.cpp There has been little development on it's...

I'm aware of that demo, but the problem I see is that current controllers such as the position, velocity or effort controllers aren't afaik, chainable. So I can't claim the...

Im referring to the reference interfaces (which are non existent since the controller's aren't chainable) of existing controllers not the hardware interfaces themselves. Also wanted to note the closing remarks...

I don't have issues with it, just found it hard to find information on the current state of development on chaining controllers. I would love to be part of the...