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Added service to control force mode from ROS2 #771

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5 tasks
urrsk opened this issue Aug 4, 2023 · 0 comments · May be fixed by #1049
Open
5 tasks

Added service to control force mode from ROS2 #771

urrsk opened this issue Aug 4, 2023 · 0 comments · May be fixed by #1049
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@urfeex

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@urrsk
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urrsk commented Aug 4, 2023 •
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Feature summary

Add support for using the force mode UR build-in features that already have been added to the Client Library

Expose the Force mode to enable to use the on UR's force mode controller overlay to make a trajectory force compliant

Related issues

UniversalRobots/Universal_Robots_Client_Library#138

Tasks

To complete this issue involves

  • Implement the feature
  • Make documentation
  • Make Unit test
  • Make example
  • Test on real hardware
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ROS - Support for Force Mode, Freedrive, Tool contact and Output change through external control
Status: In Progress
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Add force mode controller URJala/Universal_Robots_ROS2_Driver
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@fmauch @urrsk @urfeex