How to create a pair of switching controllers in webots_ros2_control

[ralphieraccoon]

I'm trying to use webots_ros2_control to control some joints in both position and velocity, but not simultaneously, I want to switch controllers during the simulation using switch_controllers. If I have both a position and velocity command_interface in my URDF file for the joints the robot not longer works, I don't get any errors but it doesn't move at all in webots when I publish a command to ros2_control.