anhtuduong / ros_impedance_controller Goto Github PK

1. clone ros_impedance_controller into dls_ws

2. git submodule update --init --recursive

3. hyqmake

4. roslaunch ros_impedance_controller ros_impedance_controller.launch

by default the controller runs at 1 khz, you can specify custom frequencies setting task_period:=XX

by default the PD control is set, the gains are in the config/ros_impedance_controller_pd.yaml

only_torque allows to close the loop directly in torque (PD gains are zero)

other params are:

robot_name

5. run /matlab_model_hyq/roscontroller.m to send joint position/velocity references q_des, qd_des and feed-forward torques tau_ffwd

6. for the python controller run python_controller/python_controller.py