Cartesian Impedance Controller ROSCon 2022 Lightning Talk

Our lightning talk at ROSCon 2022 about our Cartesian impedance control implementation.
It is a feature-rich C++ implementation that can be used with ROS or as a C++ library.
The features include:
Changing the reference pose at runtime
Configuring stiffness values along all Cartesian dimensions at runtime
Configuring damping factors along all Cartesian dimensions at runtime
Applying Cartesian forces and torques at runtime
Handling of joint trajectories with nullspace configurations, e.g. from MoveIt
Jerk limitation
Interface to ROS messages and dynamic_reconfigure for easy runtime configuration
Robot-agnostic implementation
We tested it and use it with KUKA iiwas as well as the Franka Emika Robot (Panda) both in simulation and on the real system.
Code: github.com/mat...
ROSCon: roscon.ros.org...
Full lightning talk session: vimeo.com/show...
The video author of the full video is Open Robotics (www.openrobotic...).