ros2_controller which applies impedance control in joint-space based on a specified finite number of states, each with its own impedance parameters
- controller_interface
- hardware_interface
- pluginlib
- rclcpp
- rclcpp_lifecycle
- Download source code form Github
git clone https://github.com/packbionics/fsm_impedance_controller.gitor
git clone [email protected]:packbionics/fsm_impedance_controller.git- Build package within a colcon workspace
colcon build --packages-select fsm_impedance_controllerOnce the workspace is sourced, the controller should be visible to the rest of ros2_control.