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

@@ -122,7 +122,7 @@ private:
   Mat6<double> D_task_, D_task_target_;
   Mat7<double> K_null_, K_null_target_;
   Mat7<double> D_null_, D_null_target_;
-  Eigen::Matrix<double, 7, 1> q_d_nullspace_;
+  // Eigen::Matrix<double, 7, 1> q_d_nullspace_;
 
   //* ----- Control States -------------------------------------------------------------------------
   /* Robot Model */
@@ -138,6 +138,7 @@ private:
 
   /* Joint states */
   Vec7<double> q_mes_;
+  Vec7<double> q_null_des_;
   Vec7<double> dq_mes_, dq_mes_prev_;
   Vec7<double> ddq_eul_, ddq_eul_prev_;  // joint accel obtained by backward Euler method
   Vec7<double> h_mes_, h_mes_prev_;      // General Momentum
@@ -187,13 +188,13 @@ private:
   // const std::vector<double> fric_phi3{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
 
 public:
-  //* ----- SUBSCRIBE CALLBACK FUNC ----------------------------------------------------------------
+  //* ----- SUBSCRIBE CALLBACK ---------------------------------------------------------------------
   void subscribe_target_twist(const geometry_msgs::TwistConstPtr & msg);
   void subscribe_joy_command(const sensor_msgs::JoyConstPtr & msg);
 
   void equilibriumPoseCallback(const geometry_msgs::PoseStampedConstPtr & msg);
 
-  //* ----- PARAMETER SERVER CALLBACK FUNC ---------------------------------------------------------
+  //* ----- PARAMETER SERVER CALLBACK --------------------------------------------------------------
   void complianceParamCallback(franka_example_controllers::compliance_paramConfig & config,
                                uint32_t level);