Ruthrash / csc376_panda_control

ROS package that allows using lifranka's internal joint impedance controller to make the robot go to particular joint configurations

Dependencies

• libfranka
• Eigen

usage

mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src 
catkin_init_workspace
git clone 

cd ~/catkin_ws
catkin_make_isolated 
source ../devel_isolated/setup.bash 

run the controller server

rosrun csc376_panda_control panda_ros_server 

In a new terminal run the controller client

rosrun csc376_panda_control main