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clone ros_impedance_controller into dls_ws
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git submodule update --init --recursive
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hyqmake
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roslaunch ros_impedance_controller ros_impedance_controller.launch
by default the controller runs at 1 khz, you can specify custom frequencies setting task_period:=XX
by default the PD control is set, the gains are in the config/ros_impedance_controller_pd.yaml
only_torque allows to close the loop directly in torque (PD gains are zero)
other params are:
robot_name
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run /matlab_model_hyq/roscontroller.m to send joint position/velocity references q_des, qd_des and feed-forward torques tau_ffwd
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for the python controller run python_controller/python_controller.py