switch_controller

switch_controller is a control framework that can change multiple controllers in one ROS node.

Dependency

boost, eigen, libfranka

Usage

1. Download and compile this module in src folder in the catkin workspace (+ source workspace).
2. rosrun switch_controller switch_controller_node
3. You can use GUI for changing configurations: rosrun rqt_reconfigure rqt_reconfigure
4. Also, you can use dynamic_reconfigure client to change settings in other nodes.

Controllers/Topics

switch_controller is written based on the torque control of the current 7-axis robot. The implemented controller and the corresponding topics are as follows.

• Common:
  • /joint_state : joint information (sensor_msgs::JointState : name, position, velocity, torque)
  • /ee_pose : End-effector pose (geometry_msgs::PoseStamped)
  • ctrl_mode (dynamic_reconfigure) : control mode (0:Stop, 1:Idle, 2:JointSpaceImpedance, 3:TaskSpaceImpedance)
• Joint-space impedance control
  • /q_d : desired joint angle (std_msgs::Float64MultiArray).
  • joint_k (dynamic_reconfigure) : joint stiffness
  • joint_d (dynamic_reconfigure) : joint damping
• Task-space impedance control
  • /ee_pose_d : desired End-effector pose (geometry_msgs::PoseStamped)
  • task_trans_k (dynamic_reconfigure) : Task-space translational stiffness
  • task_rot_k (dynamic_reconfigure) : Task-space rotational stiffness

Robot

switch_controller is currently based on the Franka Emika Panda. Kinova Gen3 will be added.

Add your own controller

TBD

Add your own robot

TBD