[Example XX] Admittance controller demo #206
Conversation
…_demos into add-admittance-controller
using_admittance_controller.md
Outdated
| ``` | ||
| 1. Clone this moveit2 repository and import the `moveit2/moveit2.repos` file: | ||
| ``` | ||
| git clone https://github.com/pac48/moveit2.git -b pr-support-chained-controllers |
There was a problem hiding this comment.
We can get back on the main branch of MoveIt since that PR got merged 👍
| cmake_minimum_required(VERSION 3.5) | ||
| project(rrbot_description) | ||
|
|
||
| find_package(ament_cmake REQUIRED) |
There was a problem hiding this comment.
I guess this demo doesn't belong in rrbot_description because it uses a UR robot. Prob should make a new package & directory for it.
AndyZe
force-pushed
the
add-admittance-controller
branch
from
4528983 to
bafe879
Compare
AndyZe
force-pushed
the
add-admittance-controller
branch
from
bafe879 to
9700526
Compare
There was a problem hiding this comment.
Both demos worked well for me and I submitted a PR against the fork to update the dependencies, since they are slightly outdated by now.
…ve obosolete controller in ur package.
| frame_id: wrist_3_link | ||
| additional_frames_to_publish: [base_link] | ||
|
|
||
| sensor_filter_chain: |
There was a problem hiding this comment.
How to define this using generate_parameters_library?
christophfroehlich
changed the title
|
This pull request is in conflict. Could you fix it @pac48? |
christophfroehlich
changed the title
|
@pac48 Does it make sense to update this to the current repo structure in your opinion? |
|
@christophfroehlich I think having an admittance control example could be useful, but it's probably easier to open a new PR at this point. |
5 participants
This PR provides an example for the admittance controller ros-controls/ros2_controllers#370. It contains the changes from #140 but with the needed changes for the new implementation.
Instructions for running the example are located here: using_admittance_controller.md.