[Example XX] Admittance controller demo

README.md

@@ -588,7 +588,7 @@ Now you should also see the *RRbot* represented correctly in `RViz`.
 
 3. Now start the controller:
    ```
-   ros2 control switch_controllers --start forward_position_controller
+   ros2 control switch_controllers --activate forward_position_controller
    ```
    Check if controllers are activated:
    ```
@@ -631,7 +631,7 @@ Now you should also see the *RRbot* represented correctly in `RViz`.
 
 2. Now start the controller (and stop other running contorller):
    ```
-   ros2 control switch_controllers --stop forward_position_controller --start position_trajectory_controller
+   ros2 control switch_controllers --deactivate forward_position_controller --activate position_trajectory_controller
    ```
    Check if controllers are activated:
    ```

admittance_demo/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(admittance_demo)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

admittance_demo/admittance_controller.repos

@@ -0,0 +1,10 @@
+repositories:
+  ros2_control_demos:
+    type: git
+    url: https://github.com/pac48/ros2_control_demos.git
+    version: add-admittance-controller
+
+  teleop_twist_keyboard: # Branch: wrench
+    type: git
+    url: https://github.com/nbbrooks/teleop_twist_keyboard.git
+    version: 63de1c17c4c5d0724018f3b5fd8139c472cd15ab  # Add Float64MultiArray publisher