message: ADD: Allow position control for prismatic joints
diff: @@ -394,9 +394,13 @@ void FrankaHWSim::writeSim(ros::Time /*time*/, ros::Duration period) {
  angles::shortest_angular_distance_with_limits(joint->position, setpoint, kJointLowerLimit,
  kJointUpperLimit, error);
  break;
  + case urdf::Joint::PRISMATIC:
  + error = boost::algorithm::clamp(setpoint - joint->position, kJointLowerLimit,
  + kJointUpperLimit);
  + break;
  default:
  std::string error_message =
  - "Only revolute joints are allowed for position control right now";
  + "Only revolute or prismatic joints are allowed for position control right now";
  ROS_FATAL("%s", error_message.c_str());
  throw std::invalid_argument(error_message);
  }
  