controllers for joint 0s

[Ugo]

Find a way to assign a controller to the joint 0s

[Ugo (ugocupcic)]

In sr06.cpp, we probably need to add something around line 1005 to control joint 0s (but first we need to add them somehow to the robot model).

1006: //command->to_motor_data_type = MOTOR_DEMAND_TORQUE;
1007: //TODO: change back to torque
1008: command->to_motor_data_type = MOTOR_DEMAND_PWM;

[Ugo (ugocupcic)]

asked the question on ros answer

http://answers.ros.org/question/1366/pr2-controller-joint-control-2-joints-with-one