ros2_impedance_controller

Robot impedance controller designed with the ros2_control framework and Pinocchio. Default branch ROS2 distro: Jazzy

• Custom build dependency: kinematic_pose_msgs
• Simulation dependency: ros2_descriptions
• Handy reference generator: impedance_reference_generator

Instructions

Simulation with Robotic Arm

Use launcher default arguments:

ros2 launch ros2_impedance_controller simulation.launch.py

ros2 control set_controller_state impedance_controller active

Simulation with Spot leg

ros2 launch ros2_impedance_controller simulation.launch.py robot:=spot_leg controller:=leg_impedance_controller

ros2 control set_controller_state leg_impedance_controller active

About

The controller implement the classical impedance control law, following the notation from the book Cartesian Impedance Control of Redundant and Flexible-Joint Robots, Ott, C., 2008. Please check the documentation for further details.