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)

common/src/controller/ImpedanceController.cpp

@@ -71,7 +71,7 @@ Vec6<T> ImpedanceController<T>::get_previous_pose_error()
 template <typename T>
 Vec6<T> ImpedanceController<T>::get_task_impedance_force(const Vec6<T> & dx_0e_err)
 {
-  return K_task_ * x_0e_err_ + B_task_ * dx_0e_err;
+  return K_task_ * x_0e_err_ + D_task_ * dx_0e_err;
 }
 
 template <typename T>
@@ -80,7 +80,7 @@ Vec7<T> ImpedanceController<T>::get_null_impedance_torque(const Vec7<T> & dq_nul
                                                           const Eigen::MatrixXd & Jt_pinv)
 {
   return (Eigen::MatrixXd::Identity(7, 7) - J.transpose() * Jt_pinv) *
-         (K_null_ * q_null_err_ - B_null_ * dq_null_err);
+         (K_null_ * q_null_err_ - D_null_ * dq_null_err);
 }
 
 //* ----- PRINTER ------------------------------------------------------------------------------ *//