Ideally, the force-gated joint trajectory controller (JTC) should inherit from the main ROS JTC, like the position and velocity controllers do. The reason we don't do this is that the fix to the non-0 terminal velocity bug has not yet been backported to humble. Once it is, we should update the JTC to follow a similar inheritance paradigm as the position/velocity controllers.
Ideally, the force-gated joint trajectory controller (JTC) should inherit from the main ROS JTC, like the position and velocity controllers do. The reason we don't do this is that the fix to the non-0 terminal velocity bug has not yet been backported to humble. Once it is, we should update the JTC to follow a similar inheritance paradigm as the position/velocity controllers.