A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
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Cartesian Pose Control as directly supported by Panda #38
This is implementable in a pretty straightforward manner in franka_ros_interface by subscribing for example to a TF topic like /franka_ros_interface/motion_controller/arm/cartesian_pose_commands.
However, it would also be interesting to have this functionality in the simulator, for example in a file here. Given that I don't have a Panda at the moment to find out how the real one behaves with the cartesian interface, I can not implement this simulation functionality right now.
Is it planned to also support this in simulator or would you always use the route of torque control (supported in simulation already) + PD controller. If so, this is the only example I found so far, is there also a C++ version already existing for it?
Hi,
I know this is related to #17 and task-space cartesian pose control can be achieved via torque control and a PD controller.
However, the Panda HW interface also supports direct cartesian pose control.
This is implementable in a pretty straightforward manner in franka_ros_interface by subscribing for example to a
TFtopic like/franka_ros_interface/motion_controller/arm/cartesian_pose_commands.However, it would also be interesting to have this functionality in the simulator, for example in a file here. Given that I don't have a Panda at the moment to find out how the real one behaves with the cartesian interface, I can not implement this simulation functionality right now.
Is it planned to also support this in simulator or would you always use the route of torque control (supported in simulation already) + PD controller. If so, this is the only example I found so far, is there also a C++ version already existing for it?