message: ADD: Default case if joint type is unknown
diff: @@ -34,6 +34,8 @@ void Joint::update(const ros::Duration& dt) {
  f = this->handle->GetForceTorque(0).body2Torque.Ign();
  #endif
  break;
  + default:
  + throw std::logic_error("Unknown joint type: " + std::to_string(this->type));
  }
  this->effort = Eigen::Vector3d(f.X(), f.Y(), f.Z()).dot(this->axis);
  