We could have a similar approach to forward_command_controller, with joint_trajectory_controller having a parameter to pick the "flavour" and some derivatives that hard-code this parameter.

We could have a similar approach to forward_command_controller, with joint_trajectory_controller having a parameter to pick the "flavour" and some derivatives that hard-code this parameter.

To keep this PR shorter I will add those into a separate one.

Before merging we need to:

• add test for not allowed interface combinations
• add test for velocity and acceleration
• check what is happening when having all three state and command interfaces and why are those braking tests

Addresses: #4, #49, #118

OK, now I only have one two more test issues left:

1. uncrustify and cpplint and fighting over braces
2. the new test throws some exception and I cannot find from where
3. Update documentation to proper files.

Please help.