[Example XX] Admittance controller demo#206
[Example XX] Admittance controller demo#206pac48 wants to merge 28 commits intoros-controls:masterfrom
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…_demos into add-admittance-controller
| ``` | ||
| 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 |
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We can get back on the main branch of MoveIt since that PR got merged 👍
| @@ -4,7 +4,7 @@ project(rrbot_description) | |||
| find_package(ament_cmake REQUIRED) | |||
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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
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I verified functionality 👍
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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demos worked well for me and I submitted a PR against the fork to update the dependencies, since they are slightly outdated by now.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] | ||
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| sensor_filter_chain: |
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How to define this using generate_parameters_library?
christophfroehlich
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This pull request is in conflict. Could you fix it @pac48? |
christophfroehlich
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@pac48 Does it make sense to update this to the current repo structure in your opinion? |
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@christophfroehlich I think having an admittance control example could be useful, but it's probably easier to open a new PR at this point. |
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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.