Added world link that is used by gazebo to attach the robot to the fl…

…oor, added nullspace param, added gif files

.github/workflows/main.yml

@@ -0,0 +1,34 @@
+name: Humble CI
+
+on:
+  push:
+    branches:
+      - main
+
+jobs:
+  humble_source:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: humble
+      - run: |
+          # Create the workspace and move the repository to src
+          mkdir -p ~/ros2_ws/src
+          mv $(ls -d * | grep -v ros2_ws) ~/ros2_ws/src
+          cd ~/ros2_ws
+          # Install and initialize rosdep
+          # sudo apt-get update
+          # sudo apt-get install -y python3-rosdep
+          sudo rosdep init
+          rosdep update
+      - run: |
+          cd ~/ros2_ws
+          rosdep install --from-paths src -i -r -y
+      - uses: ros-tooling/[email protected]
+        with:
+          package-name: kuka_package
+          target-ros2-distro: humble

README.md

@@ -1,17 +1,37 @@
-# KUKA LBR Cartesian Impedance Control
+# KUKA LBR Cartesian Impedance Control  
+
 A repository for controlling the KUKA lbr or med with cartesian impedance control.
 
+<table>
+    <tr>
+        <th>ROS2 Distro</td>
+        <th>Controller</td>
+        <th>FRI library</th>
+        <th>LBR Stack</th>
+    </tr>
+    <tr>
+        <td>Humble</td>
+        <td><a href='humble-controllers'><img src='https://github.com/lucabeber/effort_controller/actions/workflows/humble.yml/badge.svg'></a><br/> </td>
+        <td><a href='humble-fri-library'><img src='https://github.com/lbr-stack/fri/actions/workflows/build.yaml/badge.svg?branch=fri-1.15'></a><br/> </td>
+        <td><a href='humble-lbr-stack'><img src='https://github.com/idra-lab/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-1.15.yml/badge.svg'></a><br/> </td>
+    </tr>
+    <td>Jazzy</td>
+        <td><a href='jazzy-controllers'><img src='https://github.com/lucabeber/effort_controller/actions/workflows/jazzy.yml/badge.svg'></a><br/> </td>
+        <td><a href='jazzy-fri-library'><img src='https://github.com/lbr-stack/fri/actions/workflows/build.yaml/badge.svg?branch=fri-1.15'></a><br/> </td>
+        <td>not tested</a><br/> </td>
+    </tr>
+</table>
 
-### Setup
-#### Set the FRI impedance gains to zero 
+## Setup
+### Set the FRI impedance gains to zero 
 Follows the instructions reported in the lbr stack documentation that you can find [here](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html).  
 Set the stiffness of the `JointImpedanceControlMode` in the `LBRServer.java` to zero for each joint, i.e.:
 ```
 control_mode_ = new JointImpedanceControlMode(0, 0, 0, 0, 0, 0, 0);
 ```
 Then synchronize the application to update the changes.
 
-#### Install
+### Install
 Clone this repo inside your ros2 workspace as the `src` folder
 ```
 git clone --recursive [email protected]:idra-lab/kuka_impedance.git src
@@ -25,21 +45,40 @@ Build the workspace
 colcon build --symlink-install
 ```
 
-### Run the controllers
+## Run the controllers
 
-#### Gravity compensation
+### Gravity compensation
 ```
 source install/setup.bash
 ros2 launch lbr_bringup hardware.launch.py ctrl:=gravity_compensation
 ```
 
-#### Cartesian impedance control
+---
+
+### Cartesian impedance control
 ```
 source install/setup.bash
 ros2 launch lbr_bringup hardware.launch.py ctrl:=cartesian_impedance_controller
 ```
+
 ---
 
-#### References
+
+### Cartesian impedance control with nullspace task
+This controller takes the initial configuration as the reference position for the nullspace control.  
+Can be activated by setting
+```
+...
+nullspace_stiffness: 10.0
+...
+```
+in `lbr_fri_ros2_stack/lbr_description/ros2_control/lbr_controllers.yaml` in the `cartesian_impedance_controller` configuration.  
+Then run the controller
+```
+source install/setup.bash
+ros2 launch lbr_bringup hardware.launch.py ctrl:=cartesian_impedance_controller
+``` 
+
+## References
 - [Cartesian controllers](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git)
 - [lbr ROS2 stack](https://github.com/lbr-stack/lbr_fri_ros2_stack)