xenvre / lwr_force_position_controller

Hybrid force/position control for the Kuka LWR4+ manipulator

Hybrid Force Position Controllers for Kuka LWR

Authors: Nicola Piga and Giulio Romualdi

Overview

This package contains three controllers:

• cartesian_position_controller: an operational space controller required to move the end effector in a desired position using inverse kinematics;
• cartesian_inverse_dynamics_controller: an operational space controller performing dynamics inversion (also wrenches at the end effector are compensated);
• hybrid_impedance_controller: an operational space controller implementing the hybrid impedance controller proposed by Spong (it uses the cartesian_inverse_dynamics_controller to perform dynamics inversion);
• ft_sensor_controller: a JointStateInterface controller performing transformations on the force/torque measurements provided by the sensor.

External packages required

In order to run some external packages are required:

• controller_switcher: GUI required to switch controllers and set commands;
• kdljacdot: Jacobian derivative solver from KDL 1.4 (not available in ros up to now);
• kuka-lwr: description of the Kuka LWR manipulator;
• vito-robot: (vito_description only) required for vito robot's torso description and materials;
• ft-calib: FTCalib class from https://github.com/kth-ros-pkg/force_torque_tools exported as ROS library;
• gravity-compensation: gravity-compensation node;
• qb-interface-node: qb_interface_node with support for IMU and compatible with the gravity-compensation node.

In order to compile the GUI you also need ros-*-qt-build.

How to run a simulation

WARNING: in order to run the simulation you MUST set every <damping> and <friction> tag in kuka_lwr.urdf.xacro to 0.0 and disable the <collision> section of the 7-th link.

1. roslaunch lwr_force_position_controllers single_lwr.launch

How to run using the real robot

1. roslaunch lwr_force_position_controllers single_lwr.launch use_lwr_sim:=false lwr_powered:=true

lwr_force_position_controller's Issues

The problem in the cartesian_inverse_dynamics_controller.cpp

when I catkin_make the package after I have download the external packages (by the way the package (gravity-compensation, qb-interface-node) were not found).
It pull out this problem :
/home/tiboy/catkin_ws3/src/lwr_force_position_controllers/src/cartesian_inverse_dynamics_controller.cpp: In member function ‘virtual bool lwr_controllers::CartesianInverseDynamicsController::init(hardware_interface::EffortJointInterface*, ros::NodeHandle&)’:
/home/tiboy/catkin_ws3/src/lwr_force_position_controllers/src/cartesian_inverse_dynamics_controller.cpp:49:5: error: ‘kdl_tree_’ was not declared in this scope
kdl_tree_.getChain(root_name, "lwr_4_link", im_link4_chain_);
^
/home/tiboy/catkin_ws3/src/lwr_force_position_controllers/src/cartesian_inverse_dynamics_controller.cpp: In member function ‘void lwr_controllers::CartesianInverseDynamicsController::update_fri_inertia_matrix(Eigen::MatrixXd&)’:
/home/tiboy/catkin_ws3/src/lwr_force_position_controllers/src/cartesian_inverse_dynamics_controller.cpp:124:15: error: ‘inertia_matrix_handles_’ was not declared in this scope
fri_B(i,j) = inertia_matrix_handles_[i * n_joints + j].getPosition();
^
/home/tiboy/catkin_ws3/src/lwr_force_position_controllers/src/cartesian_position_controller.cpp: In member function ‘void lwr_controllers::CartesianPositionController::update_fri_inertia_matrix(Eigen::MatrixXd&)’:
/home/tiboy/catkin_ws3/src/lwr_force_position_controllers/src/cartesian_position_controller.cpp:166:15: error: ‘inertia_matrix_handles_’ was not declared in this scope
fri_B(i,j) = inertia_matrix_handles_[i * n_joints + j].getPosition();

Can you help me to solve this?