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Cartesian Impedance controller implementation #45

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kamiradi opened this issue Dec 12, 2023 · 1 comment
Open

Cartesian Impedance controller implementation #45

kamiradi opened this issue Dec 12, 2023 · 1 comment

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@kamiradi
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Hi,

I was wondering if there was someone already working on porting the cartesian impedance controller to ROS2. If not, could I give it a shot?

Thanks in advance
@BarisYazici
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sure, give it a shot :)

peterdavidfagan pushed a commit to peterdavidfagan/franka_ros2 that referenced this issue Apr 1, 2024
@BarisYazici
Merge pull request frankaemika#45 in SRR/franka_ros2 from feat/cartes…
e4b7a90 
…ian-velocity-command-interface to humble

* commit 'dc27872de32c3e51f7a5bcdcef66bfb300d78d7d':
  bump version
  remove joint trajectory controller
  feat: add elbow nullspace controller
  feat: use elbow activate flag variable
  feat: devcontainer with realtime support
  feat: cartesian velocity interface
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@BarisYazici @kamiradi