gz_ros2_control

[ahcorde]

Did you consider to use gz_ros2_control instead of custom plugins ?

I will be happy to review the PRs or maybe go ahead make the changes.

[gezp]

@ahcorde , hi, it's a good suggestion, i tried to convert custom plugins to gz_ros2_control, you can see more details in this PR #4 , but i failed to create joint_trajectory_controller based on effort command with this error message:

using 'effort' command interface alone is not yet implemented yet

it seems that effort command isn't supported in ROS Galactic, so i create a joint_trajectory_controller based on position command.