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CentroEPiaggio / kuka-lwr

Software related to the KUKA LWR 4+: for real and for simulation.
The Unlicense
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Implement a custom HWSim interface #3

Closed carlosjoserg closed 9 years ago

carlosjoserg commented 9 years ago

The Kuka controller box adds the torque generated by the robot dynamics when in joint impedance control mode. The default gazebo ros_control plugin doesn't do that.

In order to have a smooth transition between simulation and reality, a custom plugin is necessary that adds the arm dynamics, so that the developed controllers can be equally applied in both scenarios.

carlosjoserg commented 9 years ago

This is implemented in d4df4b8

I tested by loading the gazebo model without controllers and the robot stayed still. I tried to push it on the screen as with the real robot when in gravity compensation, but it didn't work ; )

@enricocorvaglia @manuelbonilla Controllers should be updated to eliminate the gravity compensation term in the ones are present, and test if they still work. Now PID tune in simulation should be closer to reality as well.

Aware that, I'm using the multi-robot-test branch for developing, and after the deadline in May + (hopefully) travis CI support for Ubuntu 14.04, I will merge everything to master.