Repository of my custom controller created in ROS. By using the ros_control package, I implemented a Computed Torque Control approach to control a KUKA lwr arm robot.
- Required dependences:
- orocos_kdl
- kdl_parser
- controller_manager
- hardware_interface
- controller_interface
- pluginlib
- std_msgs
- sensor_msgs
- Clone the repository into your
catkin workspaceand build all the packages.
Run the controller and hardware interface using roslaunch:
$ cd [your catkin_workspace]/src/arm_controller
$ roslaunch arm_effort_controller.launch Then run the the robotic arm simulator node:
$ rosrun robot_kdl robot_sim_node _internal_control:=false