- Include the local implementation of joint controller and joint trajectory execution (gazbo implementation) in these packages.
gazebo: - the higher-level controller with position and velocity - a program which helps find PID values, either with neural network or Ziegler-Nichols method
- move away from object_msgs and replace with object_recognition_msgs/RecognizedObject.msg. The bounding_mesh can be used to replace primitives, which then have to be supported in object_moveit/ObjectMessageGenerator.