This is a ROS PD feedback controller package to control Franka Emika Panda arm in Gazebo simulation environment.
This package was tested in simulation environment Gazebo with:
- Ubuntu 20.04.4 LTS
- Ros Noetic
- Libfranka 0.9.0
- franka_ros 0.9.0
You can go to the their official website to find more instruction on installing these packages.
For feedback controller approach, we implemented a PD controller: desired joint velocity is proportional to joint position error
We can obtain the desired joint toque
Whereas
To run the feedback controller in Gazebo simulation, run the following code in command line:
roslaunch franka_feedback_controller franka.launch