Merge pull request #286 from project-march/fix/test-joint-controllers-yaml

Set testjoint controllers yaml to torque mode

Author: Olavhaasie

march_hardware_builder/robots/test_joint_rotational.yaml

@@ -10,8 +10,8 @@ testsetup:
           slaveIndex: 1
           absoluteEncoder:
             resolution: 17
-            minPositionIU: 97242
-            maxPositionIU: 119617
+            minPositionIU: 29266
+            maxPositionIU: 52948
           incrementalEncoder:
             resolution: 12
             transmission: 101

march_hardware_interface/config/test_joint_rotational/controllers.yaml

@@ -10,11 +10,13 @@ march:
       type: march_pdb_state_controller/MarchPdbStateController
       publish_rate: 50
     trajectory:
-      type: position_controllers/JointTrajectoryController
+      type: effort_controllers/JointTrajectoryController
       joints:
         - rotational_joint
       constraints:
         rotational_joint:
           margin_soft_limit_error: 0.5
           trajectory: 0.305
           goal: 0.305
+      gains: # Required because we're controlling an effort interface
+        rotational_joint: {p: 150, i: 0, d: 10, i_clamp: 100, publish_state: true, antiwindup: true}