Let's see the list of ROS packages that contain the standard ROS controllers:

• joint_position_controller: This is a simple implementation of the joint position controller
• joint_state_controller: This is a controller to publish joint states
• joint_effort_controller: This is an implementation of the joint effort (force) controller

The following are some of the commonly used hardware interfaces in ROS:

• Joint Command Interfaces: This will send the commands to the hardware
  • Effort Joint Interface: This will send the effort command

• • Velocity Joint Interface: This will send the velocity command
  • Position Joint Interface: This will send the position command
• Joint State Interfaces: This will retrieve the joint states from the actuators encoder