Our final goal is to be able to use PID to help with collision avoidance in simulation, we are open to take a new approach.
>From a quick look, I believe we would need the following ros-control related packages:
* gazebo_ros_control/DefaultRobotHWSim
* control_toolbox
* ros_control/hardware_interface
* ros_control/joint_limits_interface
* ros_control/transmission_interface
* ros_controllers/joint_state_controller
Not used in ros1, but we would probably need:
* ros_controllers/joint_trajectory_controller
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