message: only allow revolute joints for position control
diff: @@ -388,11 +388,10 @@ void FrankaHWSim::writeSim(ros::Time /*time*/, ros::Duration period) {
  angles::shortest_angular_distance_with_limits(joint->position, joint->desired_position,
  kJointLowerLimit, kJointUpperLimit, error);
  break;
  - case urdf::Joint::CONTINUOUS:
  - error = angles::shortest_angular_distance(joint->position, joint->desired_position);
  - break;
  default:
  - error = joint->desired_position - joint->position;
  + ROS_FATAL("Only revolute joints are allowed for position control right now");
  + throw std::invalid_argument(
  + "Only revolute joints are allowed for position control right now");
  }
  const double kEffortLimit = joint->limits.max_effort;
  