Admittance Controller Demo

[destogl]

Please check using_admittance_controller.md for instructions.

[codecov-commenter]

Codecov Report

Merging #140 (658ff0c) into master (93aec17) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff            @@
##           master    #140     +/-   ##
========================================
  Coverage    0.00%   0.00%             
========================================
  Files          88       4     -84     
  Lines        8382     381   -8001     
========================================
+ Misses       8382     381   -8001     

Flag	Coverage Δ
unittests	0.00% <ø> (ø)

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...demo_hardware/src/rrbot_system_multi_interface.cpp
...rol_demo_hardware/src/rrbot_system_with_sensor.cpp
...demo_hardware/src/rrbot_system_multi_interface.cpp
.../ros2_control_demo_hardware/src/diffbot_system.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...demo_hardware/src/rrbot_system_multi_interface.cpp
...demo_hardware/src/rrbot_system_multi_interface.cpp
.../ros2_control_demo_hardware/src/diffbot_system.cpp
...demo_hardware/src/rrbot_system_multi_interface.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
... and 82 more

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[AndyZe]

Needs updating. I don't think this commit hash exists

[AndyZe]

Have tested this -- it works well 👍

[AndyZe]

You might want to delete these rrbot files since the demo uses the UR robot.

[AndyZe]

Would suggest simply to delete this section. The generic simulated controller works quite well.

[AndyZe]

It looks like this parameter is unused. Delete it?

[AndyZe]

If/when you merge my plugin PR, you'll need to add this parameter here:

plugin_name: moveit_differential_ik_plugin::MoveItKinematics

[AndyZe]

If/when you merge my plugin PR, you'll have to add the plugin repository here:

https://github.com/PickNikRobotics/moveit_differential_ik_plugin.git

[christophfroehlich]

Closing this one in favor of #206