| Humble | Jazzy | Rolling | |
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| Branch kuka-prop-ctrl |
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This repository aim to create a robot independent torque controller based on ROS2 controllers. There is a base controller that communicate with the hardware interface of the robot, on top of that controller different types of controllers can be implemented. For now a cartesian impedance controller, a joint impedance controller and a gravity compensation are implemented.
If you want to use just the KUKA's proprietary controllers sending just the target joint position checkout the kuka-prop-ctrl branch.
Check out their use in the KUKA LBR example here!
The structure of the code and some libraries have been taken from the repo Cartesian Controllers.