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The other ones are a consequence of those changes. \r\n\r\nA good consequence is that this does not depend in the fork of ros control, since the lwr_hw_sim plugin knows the urdf naming convention and the number of joints, so it only suffices to have the name of the robot, and all joint names are known for that instance of the arm, and the transmissions are filtered out according to that value, see [here](https://github.com/CentroEPiaggio/kuka-lwr/compare/master...carlosjoserg:lwr_hw_enhancement?expand=1#diff-0b05ab056722ad0c5feed41c5f8bd105R292).\r\n\r\nAs described in https://github.com/CentroEPiaggio/kuka-lwr/issues/19#issuecomment-115153852, the package uses the joint command interfaces as a (temporal) solution to switching control strategies. I think a more suitable way would be to develop either a ImpedanceJointInterface that expose the FRI command values and use a controller, or having Pos, Sitff and Damping as dynamic paramters of all controllers when switching to EffortJointInterface (hence JOINT_IMPEDANCE -> Strategy 30 in FRI) as the PID gains, or wait for something like a [joint_mode_controller](https://github.com/pal-robotics-forks/ros_controllers/pull/41).\r\n\r\nIn the meantime, the drawback is that I couldn't find a way to have more than one controller to act in a commanding interfaces, so the old `joint_position_controller` and `joint_stiffness_controller` __can't__ work simultaneously, since the first triggers the strategy 10 (in fact, the latter as well as it uses the `PositionJointInterface`, but it'll do nothing because those commands will not be written to the robot, real & sim)\r\n\r\nATTENTION: I haven't tried the new single script because I'm not in the lab, but I will tomorrow and come back, but in the meantime I thought you might be reviewing the changes.\r\n\r\nComments are very well welcome ! 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