diff --git a/cartesian_controller_examples/CMakeLists.txt b/cartesian_controller_examples/CMakeLists.txt
deleted file mode 100644
index b2064f7b..00000000
--- a/cartesian_controller_examples/CMakeLists.txt
+++ /dev/null
@@ -1,208 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(cartesian_controller_examples)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++17)
-
-set(ADDITIONAL_COMPILE_OPTIONS -Wall -Wextra -Wpedantic -Wno-unused-parameter)
-add_compile_options(${ADDITIONAL_COMPILE_OPTIONS})
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES cartesian_controller_examples
-#  CATKIN_DEPENDS other_catkin_pkg
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-# ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/cartesian_controller_examples.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/cartesian_controller_examples_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-# We build our integration tests on the example.launch,
-# so make sure each component is installed.
-install(DIRECTORY
-  config
-  etc
-  launch
-  urdf
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_cartesian_controller_examples.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/cartesian_controller_examples/COLCON_IGNORE b/cartesian_controller_examples/COLCON_IGNORE
deleted file mode 100644
index e69de29b..00000000
diff --git a/cartesian_controller_examples/config/example_controllers.yaml b/cartesian_controller_examples/config/example_controllers.yaml
deleted file mode 100644
index c126e37e..00000000
--- a/cartesian_controller_examples/config/example_controllers.yaml
+++ /dev/null
@@ -1,154 +0,0 @@
-my_cartesian_motion_controller:
-    type: "position_controllers/CartesianMotionController"
-    end_effector_link: "tool0"
-    robot_base_link: "base_link"
-    target_frame_topic: "target_frame"
-    joints:
-    - joint1
-    - joint2
-    - joint3
-    - joint4
-    - joint5
-    - joint6
-
-    pd_gains:
-        trans_x: {p: 10.0}
-        trans_y: {p: 10.0}
-        trans_z: {p: 10.0}
-        rot_x: {p: 1.0}
-        rot_y: {p: 1.0}
-        rot_z: {p: 1.0}
-
-my_cartesian_force_controller:
-    type: "position_controllers/CartesianForceController"
-    end_effector_link: "tool0"
-    robot_base_link: "base_link"
-    ft_sensor_ref_link: "sensor_link"
-    joints:
-    - joint1
-    - joint2
-    - joint3
-    - joint4
-    - joint5
-    - joint6
-
-    pd_gains:
-        trans_x: {p: 0.05}
-        trans_y: {p: 0.05}
-        trans_z: {p: 0.05}
-        rot_x: {p: 0.01}
-        rot_y: {p: 0.01}
-        rot_z: {p: 0.01}
-
-my_cartesian_compliance_controller:
-    type: "position_controllers/CartesianComplianceController"
-    end_effector_link: "tool0"    # All links below must come before this link
-    robot_base_link: "base_link"
-    ft_sensor_ref_link: "sensor_link"
-    compliance_ref_link: "tool0"
-    target_frame_topic: "target_frame"
-    joints:
-    - joint1
-    - joint2
-    - joint3
-    - joint4
-    - joint5
-    - joint6
-
-    stiffness:  # w.r.t. compliance_ref_link
-        trans_x: 500
-        trans_y: 500
-        trans_z: 500
-        rot_x: 100
-        rot_y: 100
-        rot_z: 100
-
-    pd_gains:
-        trans_x: {p: 0.05}
-        trans_y: {p: 0.05}
-        trans_z: {p: 0.05}
-        rot_x: {p: 0.01}
-        rot_y: {p: 0.01}
-        rot_z: {p: 0.01}
-
-my_motion_control_handle:
-   type: "cartesian_controllers/MotionControlHandle"
-   end_effector_link: "tool0"
-   robot_base_link: "base_link"
-   target_frame_topic: "/my_cartesian_motion_controller/target_frame"
-   joints:
-    - joint1
-    - joint2
-    - joint3
-    - joint4
-    - joint5
-    - joint6
-
-my_joint_to_cartesian_controller:
-    type: "cartesian_controllers/JointControllerAdapter"
-    end_effector_link: "tool0"
-    robot_base_link: "base_link"
-    target_frame_topic: "/my_cartesian_motion_controller/target_frame"
-    joints:
-    - joint1
-    - joint2
-    - joint3
-    - joint4
-    - joint5
-    - joint6
-
-    joint_limits:
-      joint1:
-        has_velocity_limits: true
-        max_velocity: 3.15
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-      joint2:
-        has_velocity_limits: true
-        max_velocity: 3.15
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-      joint3:
-        has_velocity_limits: true
-        max_velocity: 3.15
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-      joint4:
-        has_velocity_limits: true
-        max_velocity: 3.2
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-      joint5:
-        has_velocity_limits: true
-        max_velocity: 3.2
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-      joint6:
-        has_velocity_limits: true
-        max_velocity: 3.2
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-
-my_joint_to_cartesian_controller/joint_trajectory_controller:
-    type: "position_controllers/JointTrajectoryController"
-    joints:
-    - joint1
-    - joint2
-    - joint3
-    - joint4
-    - joint5
-    - joint6
-
-joint_trajectory_controller:
-    type: "position_controllers/JointTrajectoryController"
-    joints:
-    - joint1
-    - joint2
-    - joint3
-    - joint4
-    - joint5
-    - joint6
-
-joint_state_controller:
-    type: joint_state_controller/JointStateController
-    publish_rate: 50
diff --git a/cartesian_controller_examples/config/example_hw_config.yaml b/cartesian_controller_examples/config/example_hw_config.yaml
deleted file mode 100644
index 517c0aad..00000000
--- a/cartesian_controller_examples/config/example_hw_config.yaml
+++ /dev/null
@@ -1,14 +0,0 @@
-generic_hw_control_loop:
-  loop_hz: 100
-  cycle_time_error_threshold: 0.03
-
-# Settings for ros_control hardware interface
-hardware_interface:
-  sim_control_mode: 0
-  joints:
-    - joint1
-    - joint2
-    - joint3
-    - joint4
-    - joint5
-    - joint6
diff --git a/cartesian_controller_examples/etc/examples.rviz b/cartesian_controller_examples/etc/examples.rviz
deleted file mode 100644
index 41e7dc67..00000000
--- a/cartesian_controller_examples/etc/examples.rviz
+++ /dev/null
@@ -1,255 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /TF1/Frames1
-        - /RobotModel1/Links1
-      Splitter Ratio: 0.5114820003509521
-    Tree Height: 455
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        base_link:
-          Value: true
-        link1:
-          Value: true
-        link2:
-          Value: true
-        link3:
-          Value: true
-        link4:
-          Value: true
-        link5:
-          Value: true
-        link6:
-          Value: true
-        sensor_link:
-          Value: false
-        tool0:
-          Value: true
-        world:
-          Value: true
-      Marker Alpha: 1
-      Marker Scale: 0.30000001192092896
-      Name: TF
-      Show Arrows: false
-      Show Axes: true
-      Show Names: false
-      Tree:
-        world:
-          base_link:
-            link1:
-              link2:
-                link3:
-                  link4:
-                    link5:
-                      link6:
-                        sensor_link:
-                          {}
-                        tool0:
-                          {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link4:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link5:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link6:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        sensor_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        tool0:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        world:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Alpha: 1
-      Axes Length: 0.07000000029802322
-      Axes Radius: 0.009999999776482582
-      Class: rviz/Pose
-      Color: 255; 25; 0
-      Enabled: true
-      Head Length: 0.30000001192092896
-      Head Radius: 0.10000000149011612
-      Name: Pose
-      Queue Size: 10
-      Shaft Length: 1
-      Shaft Radius: 0.05000000074505806
-      Shape: Axes
-      Topic: /target_frame
-      Unreliable: false
-      Value: true
-    - Class: rviz/InteractiveMarkers
-      Enable Transparency: false
-      Enabled: true
-      Name: InteractiveMarkers
-      Show Axes: true
-      Show Descriptions: false
-      Show Visual Aids: false
-      Update Topic: /my_motion_control_handle/update
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 116; 116; 116
-    Default Light: true
-    Fixed Frame: world
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Theta std deviation: 0.2617993950843811
-      Topic: /initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 2.649895668029785
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Field of View: 0.7853981852531433
-      Focal Point:
-        X: -0.003465852700173855
-        Y: -0.3048836588859558
-        Z: 0.1462906450033188
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.29479700326919556
-      Target Frame: <Fixed Frame>
-      Yaw: 0.8704105615615845
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 752
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000252fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000252000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dcfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002dc000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005700000003efc0100000002fb0000000800540069006d0065010000000000000570000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004140000025200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1392
-  X: 319
-  Y: 135
diff --git a/cartesian_controller_examples/launch/examples.launch b/cartesian_controller_examples/launch/examples.launch
deleted file mode 100644
index c93953eb..00000000
--- a/cartesian_controller_examples/launch/examples.launch
+++ /dev/null
@@ -1,63 +0,0 @@
-<launch>
-        <!-- Configuration -->
-        <arg name="rviz" default="true"/>
-        <arg name="debug" default="false"/>
-        <arg if="$(arg debug)" name="launch-prefix" value="screen -d -m gdb -command=$(env HOME)/.ros/my_debug_log --ex run --args"/>
-        <arg unless="$(arg debug)" name="launch-prefix" value=""/>
-
-        <!-- Load robot_description to parameter server -->
-        <param name="/robot_description"
-        command="$(find xacro)/xacro '$(find cartesian_controller_examples)/urdf/robot.urdf.xacro'" />
-
-        <!-- Load hardware configuration -->
-        <rosparam file="$(find cartesian_controller_examples)/config/example_hw_config.yaml" command="load"></rosparam>
-
-        <!-- Load hardware interface -->
-        <node name="sim_hardware_interface" pkg="ros_control_boilerplate" type="sim_hw_main" output="screen" launch-prefix="$(arg launch-prefix)">
-
-                <!-- Control motion and compliance controller with one handle -->
-                <remap from="my_motion_control_handle/target_frame" to="target_frame" />
-                <remap from="my_cartesian_motion_controller/target_frame" to="target_frame" />
-                <remap from="my_cartesian_compliance_controller/target_frame" to="target_frame" />
-
-                <!-- Control wrenches via one topic -->
-                <remap from="my_cartesian_force_controller/target_wrench" to="target_wrench" />
-                <remap from="my_cartesian_compliance_controller/target_wrench" to="target_wrench" />
-        </node>
-
-        <!-- Robot state publisher -->
-        <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-                <param name="publish_frequency" type="double" value="50.0" />
-                <param name="tf_prefix" type="string" value="" />
-        </node>
-
-        <!-- Joint state publisher -->
-        <node name="joint_state_controller_spawner" pkg="controller_manager" type="spawner" args="joint_state_controller" respawn="false" output="screen"/>
-
-        <!-- Load controller configuration -->
-        <rosparam file="$(find cartesian_controller_examples)/config/example_controllers.yaml" command="load"></rosparam>
-
-        <!-- Spawn controllers -->
-        <node name="controller_spawner" pkg="controller_manager" type="spawner"
-                args="--stopped
-                my_cartesian_motion_controller
-                my_cartesian_force_controller
-                my_cartesian_compliance_controller
-                my_motion_control_handle
-                my_joint_to_cartesian_controller
-                joint_trajectory_controller
-                "
-        />
-
-        <!-- Spawn joint controller for testing my_joint_to_cartesian_controller  -->
-        <!-- Note: This controller should be loaded and started -->
-        <group ns="my_joint_to_cartesian_controller" >
-                <node name="controller_spawner" pkg="controller_manager" type="spawner" args="joint_trajectory_controller" />
-        </group>
-
-        <!-- Visualization -->
-        <group if="$(arg rviz)">
-                <arg name="my_rviz" value="-d $(find cartesian_controller_examples)/etc/examples.rviz" />
-                <node name="rviz" pkg="rviz" type="rviz" respawn="false" args="$(arg my_rviz)" output="screen" />
-        </group>
-</launch>
diff --git a/cartesian_controller_examples/package.xml b/cartesian_controller_examples/package.xml
deleted file mode 100644
index 52a9cc5f..00000000
--- a/cartesian_controller_examples/package.xml
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<package>
-  <name>cartesian_controller_examples</name>
-  <version>0.0.0</version>
-  <description>The cartesian_controller_examples package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <maintainer email="scherzin@fzi.de">scherzin</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <license>BSD-3-Clause</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <url type="repository">https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers</url>
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <author email="scherzin@fzi.de">Stefan Scherzinger</author>
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <run_depend>xacro</run_depend>
-  <run_depend>rviz</run_depend>
-  <run_depend>joint_trajectory_controller</run_depend>
-  <run_depend>joint_state_controller</run_depend>
-  <run_depend>ros_control_boilerplate</run_depend>
-  <run_depend>controller_manager</run_depend>
-  <run_depend>robot_state_publisher</run_depend>
-
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
-</package>
diff --git a/cartesian_controller_examples/urdf/robot.urdf.xacro b/cartesian_controller_examples/urdf/robot.urdf.xacro
deleted file mode 100644
index f8704f9e..00000000
--- a/cartesian_controller_examples/urdf/robot.urdf.xacro
+++ /dev/null
@@ -1,254 +0,0 @@
-<?xml version="1.0"?>
-<robot name="robot" xmlns:xacro="http://ros.org/wiki/xacro">
-
-        <!--
-        A fictitious robot model for testing purposes.
-        The kinematics is roughly inspired by the universal robots ur10.
-        -->
-
-        <!-- joint properties -->
-        <xacro:property name="joint_radius" value="0.02" />
-        <xacro:property name="joint_length" value="0.03" />
-
-        <!-- link properties -->
-        <xacro:property name="link_radius" value="0.01" />
-        <xacro:property name="link1_length" value="0.15" />
-        <xacro:property name="link2_length" value="0.5" />
-        <xacro:property name="link3_length" value="0.5" />
-        <xacro:property name="link4_length" value="0.15" />
-        <xacro:property name="link5_length" value="0.10" />
-        <xacro:property name="link6_length" value="0.05" />
-
-        <!-- colors -->
-        <material name="grey">
-                <color rgba="0.3 0.3 0.3 1.0"/>
-        </material>
-
-        <link name="base_link" >
-                <visual name="joint">
-                        <origin xyz="0 0 ${joint_length / 2.0}" rpy="0 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-        </link>
-
-        <joint name="joint1" type="revolute">
-                <parent link="base_link" />
-                <child link = "link1" />
-                <origin xyz="0.0 0.0 ${3.0 / 2.0 * joint_length}" rpy="0.0 0.0 0.0" />
-                <axis xyz="0 0 1" />
-                <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="1.0" velocity="10.0"/>
-        </joint>
-
-        <link name="link1">
-                <visual name="joint1">
-                        <origin xyz="0 0 0" rpy="0 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-                <visual name="link">
-                        <origin xyz="0 0 ${link1_length / 2.0}" rpy="0 0 0" />
-                        <geometry>
-                                <cylinder length="${link1_length}" radius="${link_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-                <visual name="joint2">
-                        <origin xyz="0 0 ${link1_length}" rpy="${pi / 2.0} 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-        </link>
-
-        <joint name="joint2" type="revolute">
-                <parent link="link1" />
-                <child link = "link2" />
-                <origin xyz="0.0 ${joint_length} ${link1_length}" rpy="0.0 ${pi / 2.0} 0.0" />
-                <axis xyz="0 1 0" />
-                <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="1.0" velocity="10.0"/>
-        </joint>
-
-        <link name="link2">
-                <visual name="joint2">
-                        <origin xyz="0 0 0" rpy="${pi / 2.0} 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-                <visual name="link">
-                        <origin xyz="0 0 ${link2_length / 2.0}" rpy="0 0 0" />
-                        <geometry>
-                                <cylinder length="${link2_length}" radius="${link_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-                <visual name="joint3">
-                        <origin xyz="0 0 ${link2_length}" rpy="${pi / 2.0} 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-        </link>
-
-        <joint name="joint3" type="revolute">
-                <parent link="link2" />
-                <child link = "link3" />
-                <origin xyz="0.0 -${joint_length} ${link2_length}" rpy="0.0 0.0 0.0" />
-                <axis xyz="0 1 0" />
-                <limit lower="${-pi}" upper="${pi}" effort="1.0" velocity="10.0"/>
-        </joint>
-
-        <link name="link3">
-                <visual name="joint3">
-                        <origin xyz="0 0 0" rpy="${pi / 2.0} 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-                <visual name="link">
-                        <origin xyz="0 0 ${link3_length / 2.0}" rpy="0 0 0" />
-                        <geometry>
-                                <cylinder length="${link3_length}" radius="${link_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-                <visual name="joint4">
-                        <origin xyz="0 0 ${link3_length}" rpy="${pi / 2.0} 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-        </link>
-
-        <joint name="joint4" type="revolute">
-                <parent link="link3" />
-                <child link = "link4" />
-                <origin xyz="0.0 ${joint_length} ${link3_length}" rpy="0.0 ${pi / 2.0} 0.0" />
-                <axis xyz="0 1 0" />
-                <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="1.0" velocity="10.0"/>
-        </joint>
-
-        <link name="link4">
-                <visual name="joint4">
-                        <origin xyz="0 0 0" rpy="${pi / 2.0} 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-                <visual name="link">
-                        <origin xyz="0 ${link4_length / 2.0} 0" rpy="${pi / 2.0} 0 0" />
-                        <geometry>
-                                <cylinder length="${link4_length}" radius="${link_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-                <visual name="joint5">
-                        <origin xyz="0 ${link4_length} 0" rpy="0 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-        </link>
-
-        <joint name="joint5" type="revolute">
-                <parent link="link4" />
-                <child link = "link5" />
-                <origin xyz="0.0 ${link4_length} ${joint_length}" rpy="0.0 0.0 0.0" />
-                <axis xyz="0 0 1" />
-                <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="1.0" velocity="10.0"/>
-        </joint>
-
-        <link name="link5">
-                <visual name="joint5">
-                        <origin xyz="0 0 0" rpy="0 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-                <visual name="link">
-                        <origin xyz="0 0 ${link5_length / 2.0}" rpy="0 0 0" />
-                        <geometry>
-                                <cylinder length="${link5_length}" radius="${link_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-                <visual name="joint6">
-                        <origin xyz="0 0 ${link5_length}" rpy="${pi / 2.0} 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-        </link>
-
-        <joint name="joint6" type="revolute">
-                <parent link="link5" />
-                <child link = "link6" />
-                <origin xyz="0.0 ${joint_length} ${link5_length}" rpy="0.0 0.0 0.0" />
-                <axis xyz="0 1 0" />
-                <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="1.0" velocity="10.0"/>
-        </joint>
-
-        <link name="link6">
-                <visual name="joint6">
-                        <origin xyz="0 0 0" rpy="${pi / 2.0} 0 0" />
-                        <geometry>
-                                <cylinder length="${joint_length}" radius="${joint_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-                <visual name="link">
-                        <origin xyz="0 ${link6_length / 2.0} 0" rpy="${-pi / 2.0} 0 0" />
-                        <geometry>
-                                <cylinder length="${link6_length}" radius="${link_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-        </link>
-
-        <joint name="tool0_joint" type="fixed">
-                <origin xyz="0 0 ${link6_length / 2.0}" rpy="0 0 0"/>
-                <parent link="sensor_link"/>
-                <child link="tool0"/>
-        </joint>
-        <link name="tool0">
-                <visual>
-                        <origin xyz="0 0 0" rpy="0 0 0" />
-                        <geometry>
-                                <sphere radius="${link_radius}"/>
-                        </geometry>
-                        <material name="grey"/>
-                </visual>
-        </link>
-
-
-        <!-- Attach a sensor link -->
-        <joint name="sensor_link_joint" type="fixed">
-                <origin xyz="0 ${link6_length / 2.0} 0" rpy="${-pi / 2.0} 0 0"/>
-                <parent link="link6"/>
-                <child link="sensor_link"/>
-        </joint>
-        <link name="sensor_link"/>
-
-        <!-- Connect to world -->
-        <link name="world" />
-        <joint name="world_joint" type="fixed">
-                <parent link="world" />
-                <child link = "base_link" />
-                <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-        </joint>
-
-</robot>
diff --git a/joint_to_cartesian_controller/CMakeLists.txt b/joint_to_cartesian_controller/CMakeLists.txt
deleted file mode 100644
index a5375766..00000000
--- a/joint_to_cartesian_controller/CMakeLists.txt
+++ /dev/null
@@ -1,224 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(joint_to_cartesian_controller)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++17)
-
-set(ADDITIONAL_COMPILE_OPTIONS -Wall -Wextra -Wpedantic -Wno-unused-parameter)
-add_compile_options(${ADDITIONAL_COMPILE_OPTIONS})
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  cartesian_controller_base
-  controller_interface
-  controller_manager
-  geometry_msgs
-  hardware_interface
-  joint_limits_interface
-  kdl_parser
-  pluginlib
-  roscpp
-  sensor_msgs
-  urdf
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-  INCLUDE_DIRS
-    include
-  LIBRARIES
-    joint_to_cartesian_controller
-  CATKIN_DEPENDS
-    cartesian_controller_base
-    controller_interface
-    controller_manager
-    geometry_msgs
-    hardware_interface
-    joint_limits_interface
-    kdl_parser
-    pluginlib
-    roscpp
-    sensor_msgs
-    urdf
-
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-add_library(${PROJECT_NAME}
-  src/joint_to_cartesian_controller.cpp
-  src/JointControllerAdapter.cpp
-)
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/joint_to_cartesian_controller_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}
-  ${catkin_LIBRARIES}
-)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark cpp header files for installation
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-  PATTERN ".svn" EXCLUDE
-)
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-install(FILES
-  joint_to_cartesian_controller_plugin.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_joint_to_cartesian_controller.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/joint_to_cartesian_controller/COLCON_IGNORE b/joint_to_cartesian_controller/COLCON_IGNORE
deleted file mode 100644
index e69de29b..00000000
diff --git a/joint_to_cartesian_controller/README.md b/joint_to_cartesian_controller/README.md
deleted file mode 100644
index 111a8f4b..00000000
--- a/joint_to_cartesian_controller/README.md
+++ /dev/null
@@ -1,78 +0,0 @@
-## Joint to Cartesian Controller
-This adapter-controller basically transforms the joint trajectory commands from
-a connected joint-based controller to target pose commands for Cartesian
-controllers. It only works for controllers from the *position_controllers* family, e.g. *position_controllers/JointTrajectoryController*.
-
-## Example ##
-Below is an example entry for a controller specific configuration using the ur10 robot.
-```yaml
-my_joint_to_cartesian_controller:
-    type: "cartesian_controllers/JointControllerAdapter"
-    end_effector_link: "tool0"
-    robot_base_link: "base_link"
-    target_frame_topic: "target_frame"
-    joints:
-    - shoulder_pan_joint
-    - shoulder_lift_joint
-    - elbow_joint
-    - wrist_1_joint
-    - wrist_2_joint
-    - wrist_3_joint
-
-    joint_limits:
-      shoulder_pan_joint:
-        has_velocity_limits: true
-        max_velocity: 3.15
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-      shoulder_lift_joint:
-        has_velocity_limits: true
-        max_velocity: 3.15
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-      elbow_joint:
-        has_velocity_limits: true
-        max_velocity: 3.15
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-      wrist_1_joint:
-        has_velocity_limits: true
-        max_velocity: 3.2
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-      wrist_2_joint:
-        has_velocity_limits: true
-        max_velocity: 3.2
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-      wrist_3_joint:
-        has_velocity_limits: true
-        max_velocity: 3.2
-        has_acceleration_limits: true
-        max_acceleration: 10.0
-```
-Joint limits are necessary, because this adapter implements an internal hardware interface and a controller manager to manage connected controllers.
-To adapt a joint-based controller to this adapter, you must specify and load the controller to the adapters namespace:
-```yaml
-my_joint_to_cartesian_controller/joint_trajectory_controller:
-    type: "position_controllers/JointTrajectoryController"
-    joints:
-    - shoulder_pan_joint
-    - shoulder_lift_joint
-    - elbow_joint
-    - wrist_1_joint
-    - wrist_2_joint
-    - wrist_3_joint
-```
-And in the launch file for the adapter:
-```xml
-        <node name="controller_spawner" pkg="controller_manager" type="spawner" args="--stopped my_joint_to_cartesian_controller" />
-
-```
-And for the connected joint-based controller:
-```xml
-        <group ns="my_joint_to_cartesian_controller" >
-                <node name="controller_spawner" pkg="controller_manager" type="spawner" args="joint_trajectory_controller" />
-        </group>
-```
-Note the usage of the proper namespace! It is useful to start this joint-based controller on loading, so that the adapter starts publishing valid poses upon activation.
diff --git a/joint_to_cartesian_controller/include/joint_to_cartesian_controller/JointControllerAdapter.h b/joint_to_cartesian_controller/include/joint_to_cartesian_controller/JointControllerAdapter.h
deleted file mode 100644
index 7176a544..00000000
--- a/joint_to_cartesian_controller/include/joint_to_cartesian_controller/JointControllerAdapter.h
+++ /dev/null
@@ -1,95 +0,0 @@
-////////////////////////////////////////////////////////////////////////////////
-// Copyright 2019 FZI Research Center for Information Technology
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// 1. Redistributions of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// 2. Redistributions in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// 3. Neither the name of the copyright holder nor the names of its
-// contributors may be used to endorse or promote products derived from this
-// software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-////////////////////////////////////////////////////////////////////////////////
-
-//-----------------------------------------------------------------------------
-/*!\file    JointControllerAdapter.h
- *
- * \author  Stefan Scherzinger <scherzin@fzi.de>
- * \date    2017/08/16
- *
- */
-//-----------------------------------------------------------------------------
-
-#ifndef JOINT_CONTROLLER_ADAPTER_H_INCLUDED
-#define JOINT_CONTROLLER_ADAPTER_H_INCLUDED
-
-// ROS
-#include <ros/ros.h>
-#include <sensor_msgs/JointState.h>
-
-// ROS control
-#include <hardware_interface/joint_command_interface.h>
-#include <hardware_interface/joint_state_interface.h>
-#include <hardware_interface/robot_hw.h>
-#include <joint_limits_interface/joint_limits_interface.h>
-
-// KDL
-#include <kdl/jntarray.hpp>
-
-// Other
-#include <vector>
-
-namespace joint_to_cartesian_controller
-{
-/**
- * @brief A controller adapter in form of a ROS-control hardware interface
- */
-class JointControllerAdapter : public hardware_interface::RobotHW
-{
-public:
-  JointControllerAdapter();
-  ~JointControllerAdapter();
-
-  bool init(const std::vector<hardware_interface::JointStateHandle> & handles,
-            ros::NodeHandle & nh);
-
-  void write(KDL::JntArray & positions);
-
-private:
-  //! Number of actuated joints
-  size_t m_number_joints;
-
-  //! Actuated joints in order from base to tip
-  std::vector<std::string> m_joint_names;
-
-  hardware_interface::JointStateInterface m_state_interface;
-  hardware_interface::PositionJointInterface m_pos_interface;
-
-  joint_limits_interface::PositionJointSoftLimitsInterface m_limits_interface;
-
-  std::vector<hardware_interface::JointHandle> m_joint_handles;
-  std::vector<joint_limits_interface::PositionJointSoftLimitsHandle> m_limits_handles;
-
-  std::vector<double> m_cmd;
-};
-
-}  // namespace joint_to_cartesian_controller
-
-#endif
diff --git a/joint_to_cartesian_controller/include/joint_to_cartesian_controller/joint_to_cartesian_controller.h b/joint_to_cartesian_controller/include/joint_to_cartesian_controller/joint_to_cartesian_controller.h
deleted file mode 100644
index 48db2285..00000000
--- a/joint_to_cartesian_controller/include/joint_to_cartesian_controller/joint_to_cartesian_controller.h
+++ /dev/null
@@ -1,111 +0,0 @@
-////////////////////////////////////////////////////////////////////////////////
-// Copyright 2019 FZI Research Center for Information Technology
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// 1. Redistributions of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// 2. Redistributions in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// 3. Neither the name of the copyright holder nor the names of its
-// contributors may be used to endorse or promote products derived from this
-// software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-////////////////////////////////////////////////////////////////////////////////
-
-//-----------------------------------------------------------------------------
-/*!\file    joint_to_cartesian_controller.h
- *
- * \author  Stefan Scherzinger <scherzin@fzi.de>
- * \date    2017/08/15
- *
- */
-//-----------------------------------------------------------------------------
-
-#ifndef JOINT_TO_CARTESIAN_CONTROLLER_H_INCLUDED
-#define JOINT_TO_CARTESIAN_CONTROLLER_H_INCLUDED
-
-// Project
-#include <joint_to_cartesian_controller/JointControllerAdapter.h>
-
-// ROS
-#include <geometry_msgs/PoseStamped.h>
-
-// ros_controls
-#include <controller_interface/controller.h>
-#include <controller_manager/controller_manager.h>
-#include <hardware_interface/joint_state_interface.h>
-
-// KDL
-#include <kdl/chain.hpp>
-#include <kdl/chainfksolverpos_recursive.hpp>
-
-namespace joint_to_cartesian_controller
-{
-/**
- * @brief A controller to turn joint trajectories into a moving Cartesian target pose
- *
- * Use this controller, if you have (for some reason) only joint-based
- * trajectories and want to use Cartesian controllers from the
- * cartesian_controller package.
- *
- * This controller handles an internal controller manager, which can load
- * standard ros_controllers. The control commands from these controllers are
- * turned into Cartesian poses with forward kinematics, and can be used by
- * the Cartesian_controllers. An application of this controller is to
- * provide an easy interface to the rqt_joint_trajectory_controller plugin and
- * MoveIt!.
- *
- * Note, however, that transforming joint motion into Cartesian motion for
- * target following loses explicit control over the joints and collision checking.
- */
-class JointToCartesianController
-: public controller_interface::Controller<hardware_interface::JointStateInterface>
-{
-public:
-  JointToCartesianController();
-
-  bool init(hardware_interface::JointStateInterface * hw, ros::NodeHandle & nh);
-
-  void starting(const ros::Time & time);
-
-  void stopping(const ros::Time & time);
-
-  void update(const ros::Time & time, const ros::Duration & period);
-
-private:
-  std::string m_end_effector_link;
-  std::string m_robot_base_link;
-  std::string m_target_frame_topic;
-  KDL::JntArray m_positions;
-  KDL::JntArray m_velocities;
-  std::vector<std::string> m_joint_names;
-  ros::Publisher m_pose_publisher;
-
-  JointControllerAdapter m_controller_adapter;
-
-  std::vector<hardware_interface::JointStateHandle> m_joint_handles;
-
-  std::shared_ptr<KDL::ChainFkSolverPos_recursive> m_fk_solver;
-
-  std::shared_ptr<controller_manager::ControllerManager> m_controller_manager;
-};
-
-}  // namespace joint_to_cartesian_controller
-
-#endif
diff --git a/joint_to_cartesian_controller/joint_to_cartesian_controller_plugin.xml b/joint_to_cartesian_controller/joint_to_cartesian_controller_plugin.xml
deleted file mode 100644
index cefa98d4..00000000
--- a/joint_to_cartesian_controller/joint_to_cartesian_controller_plugin.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<library path="lib/libjoint_to_cartesian_controller">
-
-  <class name="cartesian_controllers/JointControllerAdapter"
-         type="cartesian_controllers::JointControllerAdapter"
-         base_class_type="controller_interface::ControllerBase">
-    <description>
-            Convert joint commands into Cartesian end-effector poses.
-    </description>
-  </class>
-
-</library>
diff --git a/joint_to_cartesian_controller/package.xml b/joint_to_cartesian_controller/package.xml
deleted file mode 100644
index 070bd5d1..00000000
--- a/joint_to_cartesian_controller/package.xml
+++ /dev/null
@@ -1,73 +0,0 @@
-<?xml version="1.0"?>
-<package>
-  <name>joint_to_cartesian_controller</name>
-  <version>0.0.0</version>
-  <description>The joint_to_cartesian_controller package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <maintainer email="scherzin@fzi.de">scherzin</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <license>BSD-3-Clause</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <url type="repository">https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers</url>
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <author email="scherzin@fzi.de">Stefan Scherzinger</author>
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>cartesian_controller_base</build_depend>
-  <build_depend>controller_interface</build_depend>
-  <build_depend>controller_manager</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>hardware_interface</build_depend>
-  <build_depend>joint_limits_interface</build_depend>
-  <build_depend>kdl_parser</build_depend>
-  <build_depend>pluginlib</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>urdf</build_depend>
-
-  <run_depend>cartesian_controller_base</run_depend>
-  <run_depend>controller_interface</run_depend>
-  <run_depend>controller_manager</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>hardware_interface</run_depend>
-  <run_depend>joint_limits_interface</run_depend>
-  <run_depend>kdl_parser</run_depend>
-  <run_depend>pluginlib</run_depend>
-
-  <run_depend>roscpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>urdf</run_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-    <controller_interface plugin="${prefix}/joint_to_cartesian_controller_plugin.xml"/>
-  </export>
-</package>
diff --git a/joint_to_cartesian_controller/src/JointControllerAdapter.cpp b/joint_to_cartesian_controller/src/JointControllerAdapter.cpp
deleted file mode 100644
index 05ed6b5e..00000000
--- a/joint_to_cartesian_controller/src/JointControllerAdapter.cpp
+++ /dev/null
@@ -1,128 +0,0 @@
-////////////////////////////////////////////////////////////////////////////////
-// Copyright 2019 FZI Research Center for Information Technology
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// 1. Redistributions of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// 2. Redistributions in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// 3. Neither the name of the copyright holder nor the names of its
-// contributors may be used to endorse or promote products derived from this
-// software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-////////////////////////////////////////////////////////////////////////////////
-
-//-----------------------------------------------------------------------------
-/*!\file    JointControllerAdapter.cpp
- *
- * \author  Stefan Scherzinger <scherzin@fzi.de>
- * \date    2017/08/16
- *
- */
-//-----------------------------------------------------------------------------
-
-// Project
-#include <joint_to_cartesian_controller/JointControllerAdapter.h>
-
-// ROS control
-#include <joint_limits_interface/joint_limits_rosparam.h>
-
-// Other
-#include <stdexcept>
-
-namespace joint_to_cartesian_controller
-{
-JointControllerAdapter::JointControllerAdapter() {}
-
-bool JointControllerAdapter::init(
-  const std::vector<hardware_interface::JointStateHandle> & state_handles, ros::NodeHandle & nh)
-{
-  for (size_t i = 0; i < state_handles.size(); ++i)
-  {
-    m_joint_names.push_back(state_handles[i].getName());
-  }
-  m_number_joints = m_joint_names.size();
-  m_cmd.resize(m_number_joints);
-
-  // Start where you are
-  for (size_t i = 0; i < m_number_joints; ++i)
-  {
-    m_cmd[i] = state_handles[i].getPosition();
-  }
-
-  // Register external state_handles
-  for (size_t i = 0; i < m_number_joints; ++i)
-  {
-    m_state_interface.registerHandle(state_handles[i]);
-  }
-  registerInterface(&m_state_interface);
-
-  // Initialize and register handles to the actuators
-  for (size_t i = 0; i < m_number_joints; ++i)
-  {
-    m_joint_handles.push_back(
-      hardware_interface::JointHandle(m_state_interface.getHandle(m_joint_names[i]), &m_cmd[i]));
-
-    m_pos_interface.registerHandle(m_joint_handles[i]);
-  }
-  registerInterface(&m_pos_interface);
-
-  // Read joint limits from param server
-  joint_limits_interface::JointLimits limits;
-  for (size_t i = 0; i < m_number_joints; ++i)
-  {
-    joint_limits_interface::getJointLimits(m_joint_names[i], nh, limits);
-  }
-
-  joint_limits_interface::SoftJointLimits soft_limits;
-
-  // Initialize and register handles to the joint limits
-  for (size_t i = 0; i < m_number_joints; ++i)
-  {
-    m_limits_handles.push_back(joint_limits_interface::PositionJointSoftLimitsHandle(
-      m_joint_handles[i], limits,
-      soft_limits  // deliberately empty
-      ));
-  }
-
-  for (size_t i = 0; i < m_number_joints; ++i)
-  {
-    m_limits_interface.registerHandle(m_limits_handles[i]);
-  }
-
-  return true;
-}
-
-JointControllerAdapter::~JointControllerAdapter() {}
-
-void JointControllerAdapter::write(KDL::JntArray & positions)
-{
-  if (static_cast<size_t>(positions.data.size()) != m_cmd.size())
-  {
-    throw std::runtime_error("Joint number mismatch!");
-  }
-
-  // Fill positions for forward kinematics
-  for (size_t i = 0; i < m_cmd.size(); ++i)
-  {
-    positions(i) = m_cmd[i];
-  }
-}
-
-}  // namespace joint_to_cartesian_controller
diff --git a/joint_to_cartesian_controller/src/joint_to_cartesian_controller.cpp b/joint_to_cartesian_controller/src/joint_to_cartesian_controller.cpp
deleted file mode 100644
index a7f05d87..00000000
--- a/joint_to_cartesian_controller/src/joint_to_cartesian_controller.cpp
+++ /dev/null
@@ -1,211 +0,0 @@
-////////////////////////////////////////////////////////////////////////////////
-// Copyright 2019 FZI Research Center for Information Technology
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// 1. Redistributions of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// 2. Redistributions in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// 3. Neither the name of the copyright holder nor the names of its
-// contributors may be used to endorse or promote products derived from this
-// software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-////////////////////////////////////////////////////////////////////////////////
-
-//-----------------------------------------------------------------------------
-/*!\file    joint_to_cartesian_controller.cpp
- *
- * \author  Stefan Scherzinger <scherzin@fzi.de>
- * \date    2017/08/15
- *
- */
-//-----------------------------------------------------------------------------
-
-// Pluginlib
-#include <pluginlib/class_list_macros.h>
-
-// Project
-#include <cartesian_controller_base/Utility.h>
-#include <joint_to_cartesian_controller/joint_to_cartesian_controller.h>
-
-// KDL
-#include <kdl/tree.hpp>
-#include <kdl_parser/kdl_parser.hpp>
-
-// URDF
-#include <urdf/model.h>
-
-// Other
-#include <map>
-
-namespace cartesian_controllers
-{
-/**
-   * @brief Connect joint-based controllers and transform their commands to Cartesian target poses
-   *
-   * This controller handles an internal controller manager, which can load
-   * standard ros_controllers. The control commands from these controllers are
-   * turned into Cartesian poses with forward kinematics, and can be used by
-   * the Cartesian_controllers. An application of this controller is to
-   * provide an easy interface to the rqt_joint_trajectory_controller plugin and
-   * MoveIt!.
-   */
-typedef joint_to_cartesian_controller::JointToCartesianController JointControllerAdapter;
-}  // namespace cartesian_controllers
-
-PLUGINLIB_EXPORT_CLASS(cartesian_controllers::JointControllerAdapter,
-                       controller_interface::ControllerBase)
-
-namespace joint_to_cartesian_controller
-{
-JointToCartesianController::JointToCartesianController() {}
-
-bool JointToCartesianController::init(hardware_interface::JointStateInterface * hw,
-                                      ros::NodeHandle & nh)
-{
-  std::string robot_description;
-  urdf::Model robot_model;
-  KDL::Tree robot_tree;
-  KDL::Chain robot_chain;
-
-  // Get controller specific configuration
-  if (!nh.getParam("/robot_description", robot_description))
-  {
-    ROS_ERROR("Failed to load '/robot_description' from parameter server");
-    return false;
-  }
-  if (!nh.getParam("robot_base_link", m_robot_base_link))
-  {
-    ROS_ERROR_STREAM("Failed to load " << nh.getNamespace() + "/robot_base_link"
-                                       << " from parameter server");
-    return false;
-  }
-  if (!nh.getParam("end_effector_link", m_end_effector_link))
-  {
-    ROS_ERROR_STREAM("Failed to load " << nh.getNamespace() + "/end_effector_link"
-                                       << " from parameter server");
-    return false;
-  }
-  if (!nh.getParam("target_frame_topic", m_target_frame_topic))
-  {
-    m_target_frame_topic = "target_frame";
-    ROS_WARN_STREAM("Failed to load "
-                    << nh.getNamespace() + "/target_frame_topic"
-                    << " from parameter server. "
-                    << "Will default to: " << nh.getNamespace() + m_target_frame_topic);
-  }
-
-  // Publishers
-  m_pose_publisher = nh.advertise<geometry_msgs::PoseStamped>(m_target_frame_topic, 10);
-
-  // Build a kinematic chain of the robot
-  if (!robot_model.initString(robot_description))
-  {
-    ROS_ERROR("Failed to parse urdf model from 'robot_description'");
-    return false;
-  }
-  if (!kdl_parser::treeFromUrdfModel(robot_model, robot_tree))
-  {
-    const std::string error =
-      ""
-      "Failed to parse KDL tree from urdf model";
-    ROS_ERROR_STREAM(error);
-    throw std::runtime_error(error);
-  }
-  if (!robot_tree.getChain(m_robot_base_link, m_end_effector_link, robot_chain))
-  {
-    const std::string error =
-      ""
-      "Failed to parse robot chain from urdf model. "
-      "Are you sure that both your 'robot_base_link' and 'end_effector_link' exist?";
-    ROS_ERROR_STREAM(error);
-    throw std::runtime_error(error);
-  }
-
-  // Get names of controllable joints from the parameter server
-  if (!nh.getParam("joints", m_joint_names))
-  {
-    const std::string error =
-      ""
-      "Failed to load " +
-      nh.getNamespace() + "/joints" + " from parameter server";
-    ROS_ERROR_STREAM(error);
-    throw std::runtime_error(error);
-  }
-
-  // Get the joint handles to use in the control loop
-  for (size_t i = 0; i < m_joint_names.size(); ++i)
-  {
-    m_joint_handles.push_back(hw->getHandle(m_joint_names[i]));
-  }
-
-  // Adjust joint buffers
-  m_positions.data = ctrl::VectorND::Zero(m_joint_handles.size());
-  m_velocities.data = ctrl::VectorND::Zero(m_joint_handles.size());
-
-  // Initialize controller adapter and according manager
-  m_controller_adapter.init(m_joint_handles, nh);
-  m_controller_manager.reset(new controller_manager::ControllerManager(&m_controller_adapter, nh));
-
-  // Initialize forward kinematics solver
-  m_fk_solver.reset(new KDL::ChainFkSolverPos_recursive(robot_chain));
-
-  return true;
-}
-
-void JointToCartesianController::starting(const ros::Time & time)
-{
-  // Get current joint positions from hardware
-  for (size_t i = 0; i < m_joint_handles.size(); ++i)
-  {
-    m_positions(i) = m_joint_handles[i].getPosition();
-  }
-}
-
-void JointToCartesianController::stopping(const ros::Time & time) {}
-
-void JointToCartesianController::update(const ros::Time & time, const ros::Duration & period)
-{
-  // Note: The connected joint-based controller gets the feedback directly from
-  // the joint state handles of this joint_to_cartesian_controller. So,
-  // there's no need for a read() function.
-
-  // Update connected joint controller
-  m_controller_manager->update(time, period);
-
-  // Get commanded positions
-  m_controller_adapter.write(m_positions);
-
-  // Solve forward kinematics
-  KDL::Frame frame;
-  m_fk_solver->JntToCart(m_positions, frame);
-
-  // Publish end-effector pose
-  geometry_msgs::PoseStamped target_pose = geometry_msgs::PoseStamped();
-  target_pose.header.stamp = ros::Time::now();
-  target_pose.header.frame_id = m_robot_base_link;
-  target_pose.pose.position.x = frame.p.x();
-  target_pose.pose.position.y = frame.p.y();
-  target_pose.pose.position.z = frame.p.z();
-  frame.M.GetQuaternion(target_pose.pose.orientation.x, target_pose.pose.orientation.y,
-                        target_pose.pose.orientation.z, target_pose.pose.orientation.w);
-  m_pose_publisher.publish(target_pose);
-}
-
-}  // namespace joint_to_cartesian_controller