JointTrajectoryActionController: How the target is applied?

[anefg]

I have been trying to understand how the JointTrajectoryController works. Analysing the code I could see that the joint states are published on update method. In the same method, some code lines before, the trajectory is executed applying the effort

'joints_[i]->commandedeffort = effort;'

In simulation is there any node which manages this new target and sends it to gazebo?

Thanks in advance,

Ane

[trainman419]

I suggest you take a look at the pr2_controller Tutorials and the PR2 JointTrajectoryAction tutorial in particular.