Passthrough for force control #11
Description
It would be nice if there were pass through controllers in ROS for the UR e-series to move the robot using force control.
Currently, I am trying to do force control using this repo here: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers
However, when I use the controller, I have some issues with the arm drifting and I feel it isn't too reliable.
It would be really nice instead to be able to control the robot using ROS utilizing the existing force control program on the UR.
Perhaps one cartesian force controller that implements the motion command that takes in a wrench and another cartesian compliance controller that takes in a point
Would implementing something like this be difficult?