Commanding absolute positions in joint position mode leads to velocity outputs

[croesmann]

Whenever I use the joint position mode and a position_controllers/JointPositionController the controller / hardware interface still commands the input as velocity/speed instead of the position value.

However, I bypass this problem by using my self-adjusted PID position controller and the velocity joint interface: velocity_controllers/JointPositionController. Hence, I have not yet looked into the code in order to find the cause. Just for the record.

[cyborg-x1]

You can change that at the moment by setting the mode in the yaml file. I know that it can be used differently, I found that out recently that I can use multiple command variables speed torque (effort).