Getting the cartesian impedance controller to run

CentroEPiaggio / kuka-lwr

Software related to the KUKA LWR 4+: for real and for simulation.

The Unlicense

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Getting the cartesian impedance controller to run #66

Closed marcoesposito1988 closed 7 years ago

marcoesposito1988 commented 8 years ago

Hey Carlos,

sorry for the long silence. I am using the 4+ again and I am trying out the vito-devel branch, since it makes it possible to use the native impedance controller.

However I found a couple of issues. Now I can start the controller while using single_lwr.launch and it looks like the controller sends meaningful values over to FRI.

carlosjoserg commented 7 years ago

@marcoesposito1988 hope you are doing well, quick question: was this finally working?

carlosjoserg commented 7 years ago

Closing this in favor of #77