Comments (1)
This seems to be a small oversight of us - currently there is no way to do CartesianImpedance control (which then would re-act to the Cartesian stiffnesses you set).
But: You can work around it by changing in line 293 to 303 in https://github.com/frankaemika/franka_ros2/blob/humble/franka_hardware/src/robot.cpp to a research_interface::robot::Move::ControllerMode::kCartesianImpedance
(or give the initialization function a parameter to be either/or)
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Related Issues (20)
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