ros-controls/ros_controllers — pull request #104 by benwr (2014-06-20 18:52:00+00:00)
Title: Allow an initial value in position controllers

We (Personal Robotics Lab at CMU) were attempting to use a position controller for a robot with starting positions other than 0. This change doesn't change the implementation of any existing setup; it only allows users to specify arbitrary starting values for controllers based on forward_command_controller.