In ros_control what is "effort"? How is it different from acceleration? Can I use a value meant to be acceleration in place of effort?
For context I'm using moveit and ros_control with a stepper motor controller that moves the joint given a target position, a maximum velocity, and an acceleration. The controller accelerates the joint up to the given max velocity, travels a bit, and then decelerates until it stops at the target position.
I currently am using joint_trajectory_controller with just a PositionJointInterface, but the arm is very poor at travelling along a cartesian path. The end effector deviates from the path by several centimeters (it's a small arm about 15cm in length) My hope is that if I specify a PositionJointInterface, VelocityJointInterface, and EffortJointInterface (using acceleration) for each joint with joint_trajectory_controller I'll see the end-effector follow a cartesian path more closely.
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