Example of JointGroupEffortController Subclassing

baxter_position_controller.h

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/**
 *  \author Ian McMahon
 *  \author Dave Coleman
 *  \desc   Multiple joint position controller for Baxter SDK
 */

#ifndef BAXTER_POSITION_CONTROLLER_H
#define BAXTER_POSITION_CONTROLLER_H

#include <ros/node_handle.h>
#include <effort_controllers/joint_group_effort_controller.h> // used for controlling arm joints
#include <baxter_core_msgs/JointCommand.h> // the input command

namespace baxter_sim_controllers
{

  class BaxterPositionController: public effort_controllers::JointGroupEffortController
  {
  private:
    std::string topic_name;
    void initCommandSub(ros::NodeHandle &n);
    void commandCB(const baxter_core_msgs::JointCommandConstPtr& msg);
  };

} // namespace

#endif