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Feature/fri wrench control#179

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krmihaly wants to merge 33 commits intomasterkroshu/kuka_drivers:masterfrom feature/fri_wrench_controlkroshu/kuka_drivers:feature/fri_wrench_controlCopy head branch name to clipboard

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Commits

Commits on Aug 1, 2024

• add forward wrench controller to kuka controllers

  krmihaly

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  f36d0a2

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• add cartesian impedance controller for stifness/damping values

  krmihaly

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  c2a52c4

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• add cart imp ctr mode, wrench cmd mode to fri_connection; use wrench controller, +configs

  krmihaly

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  56834f2

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Commits on Aug 2, 2024

• seperate joint and cart stiffness and damping, fix s/d values not being published at the corrent time of configuration, fix cart damping min value

  krmihaly

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  0644001

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Commits on Aug 6, 2024

• wrench control impedance size fix, remove init in controller

  krmihaly

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  65edcb7

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• refactor impedance values publishing

  krmihaly

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  5897bd0

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• robot application add cartesian impedance control mode

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  41d9914

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• format

  krmihaly

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  ef7c966

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• Merge commit '41d9914350c3c2a0bb19ca1bde0d412301c85302' into feature/fri_wrench_control

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  3023104

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• format java

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  78360e5

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Commits on Aug 7, 2024

• typos, parameter set access rights changed, constexpressions added

  krmihaly

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  84db233

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• comment, exec depend

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  91fb08b

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Commits on Aug 9, 2024

• wrench control interface joint names change, refactor export control interfaces

  krmihaly

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  e566cdc

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Commits on Aug 26, 2024

• wrench config typo

  krmihaly

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  5ac53a8

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• industrial ci upstream robot description branch to fri wrench control

  krmihaly

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  9aef28d

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• branch typo

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  e82711c

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Commits on Aug 29, 2024

• sorry I stole your branch

  

  Svastits

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  c8ef56e

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• Revert "sorry I stole your branch"

  Show description for ebc181e
  

  Svastits

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Commits on Sep 16, 2024

• send period < 5 ms is not needed in joint impedance mode

  krmihaly

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  360b3fb

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Commits on Sep 19, 2024

• publish impedance config values after controllers start

  krmihaly

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  0d60f9e

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Commits on Sep 20, 2024

• add impedance commands to wrench mode

  krmihaly

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  746efeb

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• fromat

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  ac33516

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• removed friction compensation

  krmihaly

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  a64a563

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• send period < 5 ms is not needed in joint impedance mode

  krmihaly

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  be90c17

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• publish impedance config values after controllers start

  krmihaly

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  b1a458c

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• add impedance commands to wrench mode

  krmihaly

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  ba2dafb

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• fromat

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  c6a6dd0

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• removed friction compensation

  krmihaly

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  f29d295

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• Merge commit 'a64a5637468e8b47519f23dd1d940312b2024838' into feature/fri_wrench_control

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  427deec

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Commits on Oct 14, 2024

• update wiki

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• Merge branch 'master' into feature/fri_wrench_control

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• udate wiki

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Commits on Oct 17, 2024

• format

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