Cartesian Compliance Controller

This package provides a ros-controller which implements Forward Dynamics Compliance Control (FDCC) [Scherzinger2017] on a set of joints.

Getting Started

1. In a sourced terminal, run

roslaunch cartesian_controller_examples examples.launch

2. In another sourced terminal, open rqt and navigate to the Controller Manager plugin under Robot Tools. Select /controller_manager as namespace and activate my_cartesian_compliance_controller.

3. Publish a geometry_msgs/WrenchStamped to /my_cartesian_compliance_controller/target_wrench with force x = 10 and watch the robot move.

4. In rqt open the Dynamic Reconfigure plugin under Configuration. Play a little with the parameters of my_cartesian_compliance_controller (e.g. stiffness/trans_x) and observe the effect of the target_wrench in RViz.

Example Configuration

Below is an example entry for a controller specific configuration. Also see cartesian_controller_examples/config/example_controllers.yaml for further tips.

my_cartesian_compliance_controller:
    type: "position_controllers/CartesianComplianceController"
    end_effector_link: "tool0"
    robot_base_link: "base_link"
    ft_sensor_ref_link: "sensor_link"
    compliance_ref_link: "tool0"
    target_frame_topic: "target_frame"
    joints:
    - joint1
    - joint2
    - joint3
    - joint4
    - joint5
    - joint6

    stiffness:
        trans_x: 500
        trans_y: 500
        trans_z: 500
        rot_x: 100
        rot_y: 100
        rot_z: 100

    pd_gains:
        trans_x: {p: 0.05}
        trans_y: {p: 0.05}
        trans_z: {p: 0.05}
        rot_x: {p: 0.01}
        rot_y: {p: 0.01}
        rot_z: {p: 0.01}

A minimal example can be found in cartesian_controller_test of this meta package. Also check the top-level README.md for further information.