ros2_impedance_controller

Robot impedance controller designed with the ros2_control framework and Pinocchio. Default branch ROS2 distro: Jazzy

1. Clone this repo;

2. Install build dependencies with:

rosdep install --from-paths src -y --ignore-src

3. For simulations with Gazebo Harmonic, consider use my robot descriptions in ros2_descriptions;

4. For a handful control reference signal generator use my package robot_impedance_analyzer.

Instructions

Simulation with Robotic Arm

Use launcher default arguments:

ros2 launch ros2_impedance_controller simulation.launch.py

ros2 control set_controller_state ur5_controller active

Simulation with Spot leg

ros2 launch ros2_impedance_controller simulation.launch.py robot:=spot_leg controller:=spot_leg_controller

ros2 control set_controller_state spot_leg_controller active

Simulation with Hydraulic Leg (HyL)

ros2 launch ros2_impedance_controller simulation.launch.py robot:=hyl controller:=hyl_controller

About

The controller implement the classical impedance control law, following the notation from the book Cartesian Impedance Control of Redundant and Flexible-Joint Robots, Ott, C., 2008. Please check the documentation for further details.