panda_controllers

Package of controllers (cartesian impedance and computed torque) implemented within the ROS Control framework for the Franka Emika Panda robot.

Table of Contents

1. Installation
   1. Installation from Source
2. Requirements
3. Running controllers

Installation

Installation from Source

Steps for installation:

1. Clone the panda_controllers package to your Catkin Workspace, e.g. ~/catkin_ws:

   cd ~/catkin_ws/src
   git clone https://github.com/CentroEPiaggio/panda_controllers.git
   

2. Compile the package using catkin:

   cd ~/catkin_ws
   catkin build
   

Requirements

Since you are interested in using this controllers you need to install libfranka and franka_ros, availables at: franka_FCI

Running controllers

In the panda_controllers package, there are two launch file related to the spawning of the cartesian and computed torque controller,cartesian_impedance_controller_softbots.launch and computed_torque_controller.launch , respectively.