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fzi-forschungszentrum-informatik / cartesian_controllers

A set of Cartesian controllers for the ROS1 and ROS2-control framework.
BSD 3-Clause "New" or "Revised" License
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I want to use Cartesian Compliance Controller to control real UR5 robot, how to do it ? #202

Closed jingbao123 closed 1 month ago

jingbao123 commented 5 months ago

I want to use Cartesian Compliance Controller to make real UR5 robot move to a target position, and at the same time I can exerts force to pull it to move.

stefanscherzinger commented 1 month ago

Hi @jingbao123

Sorry that this response comes late. Here's an example package to get you started.

stefanscherzinger commented 1 month ago

Please re-open if something is still unclear.