mobile_fr3_duo_trajectory_controller

Package Overview

This package contains a controller needed for executing trajectories on the mobile fr3 duo, both in simulation and on real hardware.

Controllers

The package provides:

• mobile_fr3_duo_trajectory_controller: a controller derived from the JointTrajectoryController. The key differences are:

  • tailored to control the full mobile_fr3_duo_v02 via the joint torque command interface for the arms, and cartesian velocity commands for the tmrv0_2

  • intended to be used together with MoveIt 2. For more information and an example launch file, see the franka_mobile_fr3_duo_moveit_config package

  • provides a FollowJointTrajectory action server, but for the tmrv0_2, it converts the velocities of the joints corresponding to the virtual planar joint used for planning to cartesian velocity commands for the mobile base.

  • the arms follow a simple joint impedance control law with damping on the filtered joint velocities, which can be parametrized through the k_gains and p_gains from the .yaml configuration file passed to the controller_manager