Tool_pose information and cartesian_client_control API in gazebo simulation

[xmaww]

Hello dear researchers! I faced the question that I want to obtain both the tool_pose information and cartesian_client_control API in gazebo simulation, which can be easily accessible with real Kinova jaco robots. I started the jaco 2 robotic arm in the simulation and did not find the corresponding ros-topic/service for tool position and position control on the physical arm? Is there any support for this? If so, please let me know, thanks!