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🚧 add impedance controller node

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This commit is contained in:
Ilya Uraev 2023-08-02 16:57:01 +03:00
parent 115f01c023
commit 817dfeaa0f
7 changed files with 116 additions and 5 deletions
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6
rbs_simulation/launch/simulation.launch.py
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@ -43,18 +43,18 @@ def generate_launch_description():
PythonLaunchDescriptionSource(
[os.path.join(get_package_share_directory('ros_gz_sim'),
'launch', 'gz_sim.launch.py')]),
launch_arguments=[('ign_args', [' -r ',world_config_file, " -s"])],
launch_arguments=[('gz_args', [' -r ',world_config_file, " -s"])],
condition=UnlessCondition(gazebo_gui))
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[os.path.join(get_package_share_directory('ros_gz_sim'),
'launch', 'gz_sim.launch.py')]),
launch_arguments=[('ign_args', [' -r ',world_config_file])],
launch_arguments=[('gz_args', [' -r ',world_config_file])],
condition=IfCondition(gazebo_gui))
# Spawn robot
gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create',
gazebo_spawn_robot = Node(package='ros_gz_sim', executable='create',
arguments=[
'-name', rbs_robot_type,
'-x', '0.0',