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personalrobotics / ada_ros2

ROS2 Hardware Interface and Description for the ADA Robot
BSD 3-Clause "New" or "Revised" License
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Add cartesian controller #37

Closed egordon closed 8 months ago

egordon commented 8 months ago

Adds cartesian_twist_controller from https://github.com/personalrobotics/cartesian_controllers branch egordon/twist to the JACO hardware.

TODO @egordon is to clean up and move cartesian_twist_controller (which uses very little functionality from the base forked repository) over to pr_ros_controllers.

This has been effectively tested in real.

Note: alpha has NOT been tuned, so it should be going forward to manage the trade-off between accuracy (lower alpha) and robustness to singularities (higher alpha)