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/cfg/controller_param.cfg

-# #!/usr/bin/env python
-# PACKAGE = "franka_example_controllers"
+#!/usr/bin/env python
+PACKAGE = "franka_example_controllers"
 
-# from dynamic_reconfigure.parameter_generator_catkin import *
+from dynamic_reconfigure.parameter_generator_catkin import *
 
-# gen = ParameterGenerator()
+gen = ParameterGenerator()
 
-# gen.add("translational_stiffness", double_t, 0, "Cartesian translational stiffness", 200, 0, 400)
-# gen.add("translational_stiffness_x", double_t, 0, "Cartesian translational stiffness", 200, 0, 400)
-# gen.add("translational_stiffness_y", double_t, 0, "Cartesian translational stiffness", 200, 0, 400)
-# gen.add("translational_stiffness_z", double_t, 0, "Cartesian translational stiffness", 200, 0, 400)
-# gen.add("rotational_stiffness", double_t, 0, "Cartesian rotational stiffness", 10, 0, 30)
-# gen.add("nullspace_stiffness", double_t, 0, "Stiffness of the joint space nullspace controller (the desired configuration is the one at startup)", 0.5, 0, 100)
+gen.add("K_task_x", double_t, 0, "Cartesian translational-x stiffness", 200, 0, 400)
+gen.add("K_task_y", double_t, 0, "Cartesian translational-y stiffness", 200, 0, 400)
+gen.add("K_task_z", double_t, 0, "Cartesian translational-z stiffness", 200, 0, 400)
+gen.add("K_task_rot", double_t, 0, "Cartesian rotational stiffness", 10, 0, 30)
+gen.add("K_null", double_t, 0, "Null-space joint stiffness", 0.5, 0, 100)
 
-# exit(gen.generate(PACKAGE, "dynamic_compliance", "compliance_param"))
+gen.add("fq", double_t, 0, "DOB cutoff frequency", 15, 0, 75)
+gen.add("s1", double_t, 0, "SOSML s1 gain", 0.1, 0, 2000)
+gen.add("s2", double_t, 0, "SOSML s2 gain", 0.1, 0, 2000)
+gen.add("r_th", double_t, 0, "MOB residual threshold", 0.1, 0, 100)
+gen.add("Km", double_t, 0, "MOB low-pass filter gain", 10, 0, 75)
+
+exit(gen.generate(PACKAGE, "dynamic_compliance", "controller_param"))