Controller Development about franka_ros2 HOT 4 OPEN

Hey Peter,
If it helps you, we just released a Gazebo package. The example controllers are working with the Gazebo plugin. You can take a look at them.
I haven't tried the MuJoCo integration. But keep in mind that the example controller commanding torque is sending the torque without the gravity. You need to add the gravity term in the MuJoCo simulation section. You can take a look at how we feed the gravity torque in the Gazebo controller https://github.com/frankaemika/franka_ros2/blob/humble/franka_gazebo/franka_ign_ros2_control/src/ign_system.cpp#L714

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If you get something ready, we could make it available to public. So more developers can utilise it.

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This is super useful, thanks @BarisYazici.

from franka_ros2.

If you get something ready, we could make it available to public. So more developers can utilise it.

Right now my code is more of a proof of concept that I use for occasional debug (found here). At the moment, I am more focused on writing and theory work but once I am back to software development work and I have the capacity to I'll clean up the code and post an example here.

Also one of the MoveIt GSoC projects this year is working on a MuJoCo integration for ROS 2 control. I think it will be worth checking out when it is completed.

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