This package contains a simple joint position controller. The controller follows PR2's controller structure and can be used in combination with the pr2_controller_manager. It creates a KDL::Tree based on the robot's URDF model. All joints inside this tree are then controlled independently of each other using a PD control scheme.
joint_position_controller is ... a simple joint position controller, which controls each joint independently of each other using a PD control scheme.
This controller is supposed to be used together with the pr2_controller_manager. It listens to a topic for the target joint positions.