Finite State Machine-Impedance Controller

Description

ros2_controller which applies impedance control in joint-space based on a specified finite number of states, each with its own impedance parameters

Dependencies

• controller_interface
• hardware_interface
• pluginlib
• rclcpp
• rclcpp_lifecycle

Installation

1. Download source code form Github

git clone https://github.com/packbionics/fsm_impedance_controller.git

or

git clone git@github.com:packbionics/fsm_impedance_controller.git

2. Build package within a colcon workspace

colcon build --packages-select fsm_impedance_controller

Usage

Once the workspace is sourced, the controller should be visible to the rest of ros2_control.