I have been trying to find an interface to jointeffortcontroller which directly publishes the torque commands to the joint. Can this controller be used for that? is it more stable then that?

Hi, usually whenever I run the typical controllers provided by ros_control such as effort_controllers/JointPositionController, I receive a message in the terminal stating that "[-7] process has finished cleanly"

Nonetheless, when I try running the 'gravity_comp_controller' it does not happen. It is still an active node and does not let me use commands like "rosrun controller_manager controller_manager list" or with "kill" or "spawn"

I noticed that elfin3.urdf.xacro doesn't match the elfin3.urdf.xacro in the HansRobot Elfin repo .
Is there a reason for this?

Also when I launch gravity_comp_controller the robot keeps moving where I expect it to stabilize.