Effort Controller Fixes

[davetcoleman]

• Critical bug: velocity controller init() does not get hardware_interface handle for joint
  • joint_ = robot->getHandle(joint_name);
• Added an optional target velocity for the effort_controller/joint_position_controller if you want to specify both a position and velocity target for use with the velocity_error in the PID class
  • JointPositionController::setCommand(double pos_command, double vel_command)
• Removed unknown code "friend class JointVelocityControllerNode" - no reference found anywhere in ROS codebase (hydro-desktop)
• Removed the need to used a scoped_ptr for control_toolbox::Pid after an upstream fix
• Cleaned up code & commenting

@adolfo-rt @jbohren

[jbohren]

That friend declaration might be something hidof is using in proprietary code. What do you say, @wmeeusse ?

[adolfo-rt]

The pp looks like a typo.

[davetcoleman]

Fixed.

[davetcoleman]

I'm going to comment out the friend declaration for now, we can always add it back.