# ros_admittance_control

**Repository Path**: clangwu/ros_admittance_control

## Basic Information

- **Project Name**: ros_admittance_control
- **Description**: UR5机械臂的导纳控制，来自MingshanHe的贡献https://github.com/MingshanHe/Compliant-Control-and-Application.git
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: https://github.com/MingshanHe/Compliant-Control-and-Application.git
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 0
- **Created**: 2022-07-08
- **Last Updated**: 2024-04-15

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Admittance Control and Application

  It contains the compliant control algorithms in robotic arm, and the chosen robot is **universal robot** which is popular collaborate robot in the world.

## Compile

```bash
mkdir catkin_ws/src && cd catkin_ws/src
git clone https://github.com/MingshanHe/Compliant-Control-and-Application.git
catkin build (or cd .. && catkin_make)
```
If there is come up with some errors during compile process, you might need to install some ros packages for support this project, I recommend you to run following command or search the compile error in Google or Baidu and so on.
```bash
rosdep install -i --from-path src --rosdistro noetic --ignore-src -r -y
```
## Check

using the following command to check the self-defined controller. Like:`cartesian_velocity_controller`

```bash
rospack plugins --attrib=plugin controller_interface
```

## Run

  **Notice**: In this repository, I have used ur5e robot and its `urdf` file need to be changed in different situation, like need or not a force/torque sensor in the end effector. Please check the `urdf` file seriously and run the algorithm, Thanks.

### 1. Admittance

```bash
roslaunch ur_gazebo ur5e_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller
```

```bash
roslaunch admittance Admittance.launch
```

After the robot has moved to the desired pose, run the following commands to generate fake wrench signal

```bash
roslaunch admittance Wrench_Fake.launch
```