message: Change order of callbacks for control calls in API.
diff: @@ -293,34 +293,34 @@ bool FrankaHW::prepareSwitch(const std::list<hardware_interface::ControllerInfo>
  break;
  case (ControlMode::JointTorque | ControlMode::JointPosition):
  run_function_ = [this](franka::Robot& robot, Callback ros_callback) {
  - robot.control(std::bind(&FrankaHW::controlCallback<franka::JointPositions>, this,
  - std::cref(position_joint_command_), ros_callback, _1, _2),
  - std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
  - std::cref(effort_joint_command_), ros_callback, _1, _2));
  + robot.control(std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
  + std::cref(effort_joint_command_), ros_callback, _1, _2),
  + std::bind(&FrankaHW::controlCallback<franka::JointPositions>, this,
  + std::cref(position_joint_command_), ros_callback, _1, _2));
  };
  break;
  case (ControlMode::JointTorque | ControlMode::JointVelocity):
  run_function_ = [this](franka::Robot& robot, Callback ros_callback) {
  - robot.control(std::bind(&FrankaHW::controlCallback<franka::JointVelocities>, this,
  - std::cref(velocity_joint_command_), ros_callback, _1, _2),
  - std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
  - std::cref(effort_joint_command_), ros_callback, _1, _2));
  + robot.control(std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
  + std::cref(effort_joint_command_), ros_callback, _1, _2),
  + std::bind(&FrankaHW::controlCallback<franka::JointVelocities>, this,
  + std::cref(velocity_joint_command_), ros_callback, _1, _2));
  };
  break;
  case (ControlMode::JointTorque | ControlMode::CartesianPose):
  run_function_ = [this](franka::Robot& robot, Callback ros_callback) {
  - robot.control(std::bind(&FrankaHW::controlCallback<franka::CartesianPose>, this,
  - std::cref(pose_cartesian_command_), ros_callback, _1, _2),
  - std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
  - std::cref(effort_joint_command_), ros_callback, _1, _2));
  + robot.control(std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
  + std::cref(effort_joint_command_), ros_callback, _1, _2),
  + std::bind(&FrankaHW::controlCallback<franka::CartesianPose>, this,
  + std::cref(pose_cartesian_command_), ros_callback, _1, _2));
  };
  break;
  case (ControlMode::JointTorque | ControlMode::CartesianVelocity):
  run_function_ = [this](franka::Robot& robot, Callback ros_callback) {
  - robot.control(std::bind(&FrankaHW::controlCallback<franka::CartesianVelocities>, this,
  - std::cref(velocity_cartesian_command_), ros_callback, _1, _2),
  - std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
  - std::cref(effort_joint_command_), ros_callback, _1, _2));
  + robot.control(std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
  + std::cref(effort_joint_command_), ros_callback, _1, _2),
  + std::bind(&FrankaHW::controlCallback<franka::CartesianVelocities>, this,
  + std::cref(velocity_cartesian_command_), ros_callback, _1, _2));
  };
  break;
  default:
  