Custum ROS (Noetic) controllers for a Franka arm

In this repo I have implemented two custum controllers:

• my_cartesian_position_controller: a task space controller using the inverse kinematics porposed in https://github.com/ffall007/franka_analytical_ik/tree/main.
• my_cartesian_impedance_controller: an impedance controller with variable parameters that can be set from another node. Additionally, it allows the user to perform a perturbation in the robot null space.
• motion_generator_node: a ROS node that subscribes to target position and target impedance stiffness to generate a continuous versions of the signals to be sent to the robot controller. It uses ruckig.

📋 Installation

• Install conda.
• Create an environment using the environment.yml:

  conda env create -f <path-to-repo>/environment.yml
  

• Use catkin to install the package in the ROS workspace:

  cd <ros-noetic-ws>
  catkin_make install
  

🚴 Usage

A simple way to use the controllers is by using the franka_gazebo package. For example:

roslaunch my_franka_controllers panda_with_my_controllers.launch controller:=my_cartesian_impedance_controller