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matthias-mayr / Cartesian-Impedance-Controller

A C++ implementation of Cartesian impedance control for torque-controlled manipulators with ROS bindings.
https://matthias-mayr.github.io/Cartesian-Impedance-Controller/
BSD 3-Clause "New" or "Revised" License
212 stars 32 forks source link

Can this be used in ROS 2? #10

Open heiyumiao opened 1 year ago

heiyumiao commented 1 year ago

Or what modifications do I need to make if I want to use it in ROS2

matthias-mayr commented 1 year ago

Good question. I haven't looked into ROS 2 control yet. Since the control algorithms are abstracted in a base class, these do not need to be touched. The ROS 1 integration is already a wrapper around them, so it might be comparably easy to make this ROS 2 compliant.

If you have the time to look into it, you can take a look at the cartesian_controllers library that already did the ROS 2 port. A pull request would definitely appreciated. Unfortunately I would not have time to look into a ROS 2 port in the next months myself.

student-0103 commented 10 months ago

any update on this one?

matthias-mayr commented 10 months ago

I learned a bit more about ros2_control in the meantime and it should be relatively to port this package. However, I am afraid that I will not have any time myself to do this before February.

If anyone is interested in doing this and to send in a pull request, that would be greatly appreciated.

mhubii commented 5 months ago

agreed, since the code is nicely structured, this shouldn't be too difficult. Might give this a go, but currently busy doing other things as well. For reference https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/163