Comments (4)
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.
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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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Related Issues (20)
- Gravity Compensation
- model_example_controller crashes in simulation HOT 1
- branch for supporting legacy robots with firmware version 4
- Control Error & Reflex Recovery HOT 3
- Reading and writing to the same hardware interface HOT 10
- Cartesian Stiffness Values Ignored HOT 1
- Error in prepare_command_mode_switch when running robotiq gripper controller HOT 1
- Position Command Interface Sensitivity & Control Exceptions HOT 2
- Parameterized Launch Configurations
- Franka Robot Simulation: Franka HW Sim HOT 1
- Problems with setup and example HOT 1
- Failed loading controller when using Humble dummy hardware
- cartesian_pose_example_controller Issue
- No movement while using fake_hardware HOT 1
- Franka Kinematics at Controller Level HOT 1
- [bug] can't run `joint_position_example_controller` with ubuntu realtime kernel HOT 1
- CMake Cannot Find `boost_sml` Headers in ROS 2 Workspace HOT 1
- Problem with libfranka HOT 1
- Cant control the real robot (Amika FR3) with MoveIt2 HOT 1
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