I'm trying to port an old Gazebo plugin from Gazebo classic to Gazebo Garden, and I have got stuck trying to control joints with a PID.

我试图将一个旧的Gazebo插件从Gazebo经典版本移植到Gazebo花园，但我试图用一个PID控制关节时被卡住了。

In classic Gazebo I can write something like:

在经典的Gazebo中，我可以写下这样的话：

auto controller = model->GetJointController();
common::PID pid(P, I, D, imax, imin, cmdMax, cmdMin);
controller->SetPositionPID(joint_name, pid);

But in Gazebo Garden, not even the JointController class appears to exist.

但在Gazebo Garden中，甚至JointControler类似乎都不存在。

I have figured out I can control joints via JointForceCmd instead, so perhaps I could implement the rest myself, but is there anything closer to the classic way of doing things?

我已经知道我可以通过JointForceCmd来控制关节，所以也许我可以自己实现其余的操作，但有没有更接近经典的操作方式呢？