pal_ros_control project focuses on the development of a ros_control system which allows to expose more types of hardware. With the original configuration of ros_control this is not possible due to design choices made in the first approach. The goal is to remove the limitations that hinder the ability of ros_control to support state of the art hardware.
In the new implementation more hardware resources from the robots of PAL Robotics will be available at the ros_control layer and the results can be easily extendable to components from other manufacturers, being an advantage for all the robotic community.