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

@@ -210,6 +210,9 @@ void CartesianImpedanceExampleController::update(const ros::Time & /*time*/,
   Vec3<double> position(transform.translation());
   Quat<double> orientation(transform.rotation());
 
+  pin::forwardKinematics(model_, data_, q_mes_, dq_mes_);
+  pin::updateFramePlacements(model_, data_);
+
   ee_pos_world_mes_ = data_.oMf[ee_id_].translation();
   RotMat<double> R_OE = data_.oMf[ee_id_].rotation();
   ee_quat_world_mes_ = Quat<double>(R_OE);