To Do Lists: Features to be further developed for ROS pacakges management

• common

  • Make controller helper function s.t. fr3_..._real and fr3_..._sim can easily callback the same helper function for controller

• fr3_custom_msgs (almost done)

  • clean-up unnecessary topics

• fr3_gui_plugin (almost done)

  • Fix homing and sinusoidal motion is not working
  • Make it more efficient (e.g. publish only when widgets' states are changed)

• fr3_impedance_controller_real:

  • Add rqt plot (or else) to tune controller parameters (e.g. SOSML gain)
  • Rename package name i.e. cartesian_impedance_example_controller -> fr3_impedance_controller_real
  • Clean-up CMakeLists.txt, package.xml

• fr3_impedance_controller_sim:

  • Add features of home configuration initialization to achieve digital twin with real HW robot. (this is for data analysis and debugging with real data)
  • Add default.nix

• fr3_ros1_mujoco_interface:

  • Make MJCF file as rosparam (optional)
  • Add default.nix

• Edit README.md

• Clean-up flake.nix

• Add license or copyright for libraries (Be careful not to infringe copyright of open sources that I used)

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• fr3_ps3_joy_publisher:
  • This package may not be necessary anymore.
  • This package is removed, and it is included in fr3_impedance_controller_sim package.