** Run controller ** roslaunch trajectory_gen cartesian_impedance_example_controller.launch robot:=panda robot_ip:=192.168.3.8
use the one above! check launch file and config folder in the trajectory_gen pkg
** rosbag ** rosbag record rosout /franka_state_controller/F_ext /cartesian_impedance_example_controller/equilibrium_pose
rostopic pub /franka_gripper/grasp/goal franka_gripper/GraspActionGoal "header: seq: 1 stamp: secs: 0 nsecs: 0 frame_id: '' goal_id: stamp: secs: 0 nsecs: 0 id: '' goal: width: 0.0 epsilon: inner: 0.0 outer: 0.0 speed: 0.5 force: 1.0"
z value table: 0.08398204667844711 cartesian initial position: 0.4177027570738568, -0.01468797204056722, 0.42149735777916353
TODO:
- add close gripper in node
- add mass estimation
roslaunch franka_example_controllers cartesian_impedance_example_controller.launch
robot_ip:=192.168.3.8 load_gripper:=true robot:=panda rviz:=false interactive_marker:=false