text: /*********************************************************************
   * Software License Agreement (BSD License)
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   *  Copyright (c) 2008, Willow Garage, Inc.
   *  Copyright (c) 2012, hiDOF, Inc.
   *  Copyright (c) 2013, PAL Robotics, S.L.
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  #pragma once
  
  
  #include <forward_command_controller/forward_command_controller.h>
  #include <hardware_interface/joint_command_interface.h>
  
  namespace velocity_controllers
  {
  
  /**
   * \brief Joint Velocity Controller (linear or angular)
   *
   * This class passes the commanded velocity down to the joint
   *
   * \section ROS interface
   *
   * \param type Must be "JointVelocityController".
   * \param joint Name of the joint to control.
   *
   * Subscribes to:
   * - \b command (std_msgs::Float64) : The joint velocity to apply
   */
  typedef forward_command_controller::ForwardCommandController<hardware_interface::VelocityJointInterface>
          JointVelocityController;
  
  }
  