Ex 2 doesnt have joint position controller for EGM

[kalepo]

Is there a joint position controller also for Example 2: "ex2_rws_and_egm_6axis_robot"?
I see a joint velocity controller in Example 2 but no joint position controller for EGM.

[gavanderhoorn]

I see a joint velocity controller in Example 2 but no joint position controller for EGM.

Not sure what you mean by "but no joint position controller for EGM", but if you're asking how to load a JointGroupPositionController, you could simply change this line to read position_controllers/JointGroupPositionController.