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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

Integration with Dart simulator #9

Closed anubhav-dogra closed 10 months ago

anubhav-dogra commented 1 year ago

hey Matthias, As you have mentioned that this library can be integrated with dart simulator. I am very new to dart as I have just started tutorials. Can you throw some light how do I integrate this library with dart simulator?

Secondly: I want to use iiwa_ros package with dart simulator using CI controller. Only selecting in gazebo launch would not work right?

matthias-mayr commented 1 year ago

Do you want to use (1) DART standalone as a C++ library or use (2) DART as a physics engine inside Gazebo?

If you want to do (1), I can probably share some code from one of my students.

If it's (2), you would have to compile Gazebo from source. I did that once & it's doable if one has some experience with code compilation. However you would not need to change anything w.r.t. to the controller configuration.

anubhav-dogra commented 1 year ago

Many Thanks @matthias-mayr for your quick response. I am really interested and would like to try (1), can you please share some? my email is anubhav.dogra@warwick.ac.uk

matthias-mayr commented 1 year ago

I took a look. It's a bit less straight forward than expected. It is written against robot_dart and not directly against DART. (On the other hand, that's of course what one would do anyway) It uses an older version of this controller library and would need some changes and it of course uses our robot setup. It's goal is also to be a drop-in replacement for Gazebo for some experiments. Saying that it publishes to and subscribes the same ROS topics as the ROS controller would do.

matthias-mayr commented 10 months ago

I am assuming that this is answered. Feel free to re-open it if there's anything else.