Package fr3_impedance_controller_real in nix env
Including all deps. Tested with nix develop then roslaunch franka_example_controllers ....
Issue with libfranka version, in the end needed to use fetchGithub in Nix to get proper files.
Closes #7 (closed)
Merge request reports
Activity
added backlog label
assigned to @jeo65286
Hi @jeo65286, I patched the libfranka issue, was how we were importing the source code. We also needed to fetch with submodules because they added a git submodule for common between versions 0.9 and 0.11. I tested on the robot and it had a nice little jump upwards at the start (2-3 cm) but otherwise seemed to be running.
If thats the only testing you wanted, you can merge this. If theres other packages youd like to put into nix Id suggest a new issue for them and put it in backlog
Hello @hanikevi , I appreciate a lot for your support ! I tried to check how it works, but, a red light of indicator was blinking when I booted the robot, and looks like safety lock was triggered. Reading the franka manual, I guess I need to release the unlocking tool while holding the robot arm, so I will do it tomorrow when I can ask other's help. Meanwhile, I edited
flake.nixto includedynamic_reconfigurefor online observer's parameter tuning @ab35b354.I will test how
fr3-...-realworks and merge it to themainbranch. Thank you
Edited by Jeong Woo Hong
added 1 commit
- ab35b354 - Add packages in flake.nix for rqt_reconfigure
added 2 commits
added 1 commit
- 99a94715 - Modify twist subscriber to PS3 (spacenav is not working), Check parameter dynamic reconfigure
added 1 commit
- 344a040e - Edit Impedance Controller to update parameters
added 1 commit
- 7e58b1b4 - TODO: debug impedance, create parameter server, customized topics
added 1 commit
- f80c6232 - Move unnecessary files, folders to bak. Remove them after test
added 1 commit
- 2fc773e8 - FEAT: Add dynamic reconfigure for controller parameters