ros-controls/ros_control — pull request #128 by davetcoleman (2013-11-07 09:09:06+00:00)
Title: Created new hardware interface for switching between controller modes

This implements the "custom interface" described on this [wiki page](https://github.com/ros-controls/ros_control/wiki/control_mode) and addresses this issue https://github.com/ros-controls/ros_control/issues/99