After building my controller as prompted in the notes, everything went well.
However, I have few questions,
1- In the c++ controller code, I get two warnings regarding gain_ and setpoint_ in JointHandle joint_ mentioning that they require constexpr identifier.
2- How do i publish commands to joint1 new controller. I couldn’t find the topics for it.
3- After running the launch file at the end, the robot’s first joint rotate to a certain angle which I assume is the setpoint defined in the c++ code. However, i does not matter how much I change the setpoint or the gain, every time I run the launch file, the robot behaves the same way. Why is that. I tried resetting the simulation and running catkin_make again, nothing changed.