Hi,

I control my position of the joints with a PID/force controller(see 
below). Is it possible to fix the position after the joint reached the 
goal position like a break would do?

  pr2_mechanism_model::JointState* steer1_state;
  steer1_state->commanded_effort_ = pos_pid_1.updatePid( 
current_pos_steer[0]- desired_pos_steer[0], dt);

Andreas