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)

fr3_impedance_controller_real/include/franka_example_controllers/cartesian_impedance_example_controller.h

@@ -96,7 +96,8 @@ private:
   ros::Subscriber sub_target_twist_;
   void subscribe_target_twist(const geometry_msgs::TwistConstPtr & msg);
   //   Vec6<double> ee_vel_world_target_;
-  Vec6<double> ee_vel_scale_;
+  // TODO: make it as rosparam or dynamic_reconfigure
+  Vec6<double> ee_vel_scale_{ 0.1, 0.1, 0.1, 0.1, 0.1, 0.1 };
   Vec6<double> ee_vel_world_des_, ee_vel_world_des_prev_;
   Vec6<double> ee_acc_world_des_, ee_acc_world_des_prev_;
   Vec3<double> ee_pos_world_des_;
@@ -104,9 +105,10 @@ private:
   Vec3<double> ee_rpy_world_des_, ee_rpy_world_des_prev_;
   Vec3<double> ee_rpy_world_mes_, ee_rpy_world_mes_prev_;
 
-  Vec6<double> fr3_vel_limit_;
-  Vec6<double> fr3_acc_limit_;
-  Vec6<double> fr3_jrk_limit_;
+  // TODO: make it as rosparam
+  Vec6<double> fr3_vel_limit_{ 3.0, 3.0, 3.0, 2.5, 2.5, 2.5 };                    // [m(rad)/s]
+  Vec6<double> fr3_acc_limit_{ 9.0, 9.0, 9.0, 17.0, 17.0, 17.0 };                 // [m(rad)/s^2]
+  Vec6<double> fr3_jrk_limit_{ 4500.0, 4500.0, 4500.0, 8500.0, 8500.0, 8500.0 };  // [m(rad)/s^3]
 
   ros::Subscriber sub_joy_;
   void subscribe_joy_command(const sensor_msgs::JoyConstPtr & msg);