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/src/cartesian_impedance_example_controller.cpp

@@ -296,8 +296,8 @@ void CartesianImpedanceExampleController::update(const ros::Time & /*time*/,
   Vec6<double> ee_pose_err_prev = imp_->get_previous_pose_error();
   Vec6<double> dpose_err = robo::getEulerDerivative(ee_pose_err, ee_pose_err_prev, dt);
   Vec6<double> F_task = imp_->get_task_impedance_force(dpose_err);
-  cout << "Imp FR3:\t" << tau_task.transpose() << endl;
-  cout << "Imp Pin:\t" << (Je_t * F_task).transpose() << endl;
+  // cout << "Imp FR3:\t" << tau_task.transpose() << endl;
+  // cout << "Imp Pin:\t" << (Je_t * F_task).transpose() << endl;
 
   /* Task-Force Disturbance compensation */
   // Vec7<double> tau_task = Je_t * (F_task - (b_dob_applied_ ? Fd_hat_dob_ :