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Implementation of a ros2_controller which applies impedance control in joint-space based on a specified finite number of states, each with its own impedance parameters

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packbionics/impedance_controller

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Finite State Machine-Impedance Controller

Description

ros2_controller which applies impedance control in joint-space based on a specified finite number of states, each with its own impedance parameters

Dependencies

  • controller_interface
  • hardware_interface
  • pluginlib
  • rclcpp
  • rclcpp_lifecycle

Installation

  1. Download source code form Github
git clone https://github.com/packbionics/fsm_impedance_controller.git

or

git clone [email protected]:packbionics/fsm_impedance_controller.git
  1. Build package within a colcon workspace
colcon build --packages-select fsm_impedance_controller

Usage

Once the workspace is sourced, the controller should be visible to the rest of ros2_control.

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Implementation of a ros2_controller which applies impedance control in joint-space based on a specified finite number of states, each with its own impedance parameters

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