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

@@ -68,6 +68,7 @@ private:
   //* ----- Constants ------------------------------------------------------------------------------
   const double delta_tau_max_{ 1.0 };
   const double spacenav_cmd_max_{ 0.6834 };
+  const double twist_scale_[6] = { 0.05, 0.05, 0.05, 0.2, 0.2, 0.2 }; // TODO: make it as rosparam
   const double alpha_ = 0.005;  // parameter filter coefficient
 
   // TODO: make it as rosparam (optional)
@@ -85,12 +86,11 @@ private:
   // bool b_mob_applied_ = false;
 
   //* ----- Publisher & Subscriber -----------------------------------------------------------------
-  /* Target EE Twist & Gripper command from Spacenav Joystick */
+  /* Target EE Twist & Gripper command from Spacenav (or PS3) Joystick */
   ros::Subscriber sub_target_twist_;
-  Vec6<double> ee_vel_scale_{ 0.1, 0.1, 0.1, 0.1, 0.1, 0.1 };  // TODO: make it as rosparam
-  // Vec6<double> ee_vel_world_target_;
   ros::Subscriber sub_joy_;
   std::array<int, 2> btn_cmd_;
+  Vec6<double> ee_vel_world_target_;
 
   /* Target EE Pose command from Interactive Marker */
   ros::Subscriber sub_equilibrium_pose_;