README.md

[simulation] Exoskeleton control sketch

Requirenments

ros-noetic

sudo apt install -y ros-noetic-kdl-parser-py 

To start a gazebo scene

roslaunch exoskeleton_scene start_scene.launch

To start a control algorithm

roslaunch safety_control start.launch

To start controllers

 rosservice call /iiwa/controller_manager/switch_controller "{start_controllers: ['joint1_torque_controller'], stop_controllers: ['joint1_position_controller'], strictness: 1}"

rosservice call /iiwa/controller_manager/switch_controller "{start_controllers: ['joint1_torque_controller'], stop_controllers: ['joint1_position_controller'], strictness: 1}"