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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

Updated minimal example #15

Closed jsaltducaju closed 10 months ago

jsaltducaju commented 10 months ago

I updated the repo with a new urdf (7 joints) now, which works better. I also load a dummy node that publish to reference_pose for the tests. All tests pass.

Left to-do: -CI pipeline integration as you mentioned earlier. -The robot is quite ugly because the links are not well represented graphically. I am working on this rn.

matthias-mayr commented 10 months ago

Thanks a lot. Unfortunately this PR is not separate and also includes the changes for the tests.

I merged this one into #13 then and will close it.