joint_position_controller.cpp

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#include <position_controllers/joint_position_controller.h>
#include <pluginlib/class_list_macros.hpp>

template <class T>
void forward_command_controller::ForwardCommandController<T>::starting(const ros::Time& time)
{
  // Start controller with current joint position
  command_buffer_.writeFromNonRT(joint_.getPosition());
}

PLUGINLIB_EXPORT_CLASS(position_controllers::JointPositionController,controller_interface::ControllerBase)