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

@@ -26,8 +26,9 @@
 #include <franka_hw/franka_state_interface.h>
 
 #include "DisturbanceObserver.hpp"
-#include "SlidingModeObserver.hpp"
+#include "ImpedanceController.hpp"
 #include "MomentumObserver.hpp"
+#include "SlidingModeObserver.hpp"
 
 namespace franka_example_controllers
 {
@@ -43,11 +44,6 @@ public:
   void update(const ros::Time &, const ros::Duration & period) override;
 
 private:
-  // Saturation
-  Eigen::Matrix<double, 7, 1> saturateTorqueRate(
-    const Eigen::Matrix<double, 7, 1> & tau_d_calculated,
-    const Eigen::Matrix<double, 7, 1> & tau_J_d);  // NOLINT (readability-identifier-naming)
-
   std::unique_ptr<franka_hw::FrankaStateHandle> state_handle_;
   std::unique_ptr<franka_hw::FrankaModelHandle> model_handle_;
   std::vector<hardware_interface::JointHandle> joint_handles_;
@@ -117,6 +113,18 @@ private:
   ros::Subscriber sub_joy_;
   void subscribe_joy_command(const sensor_msgs::JoyConstPtr & msg);
   std::array<int, 2> btn_cmd_;
+
+  /* Kinematics & Dynamics */
+  std::string urdf_filename_ = std::string("../../assets/model/fr3_franka_hand.urdf");
+  pinocchio::Model model_;
+  pinocchio::Data data_;
+  int ee_id_;
+
+  //* ----- METHODS --------------------------------------------------------------------------------
+  // Saturation
+  Eigen::Matrix<double, 7, 1> saturateTorqueRate(
+    const Eigen::Matrix<double, 7, 1> & tau_d_calculated,
+    const Eigen::Matrix<double, 7, 1> & tau_J_d);  // NOLINT (readability-identifier-naming)
 };
 
 }  // namespace franka_example_controllers