Torque Controllers

This package is made for the torque controllers for robotic manipulators. For inutition behind the source code, please visit https://shravista.github.io/blog/torque-controllers-for-manipulators.html

Steps for installation

Requirements: Ubuntu 24.04, ROS 2 Jazzy Jalisco, pinocchio, ros2 controllers, gazebo harmonic.

These steps assumes that ros2_control, ros2_controllers, gazebo sim (harmonic), gz_ros2_control are already installed. In addition one needs

sudo apt install ros-jazzy-pinocchio

Note: Compilation with pinocchio takes significant build time. But the runtime execution is pretty fast.

Preparation:

1. Clone Git Repo

git clone https://github.com/Shravista/torque_controllers.git

2. compile packages

colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

Testing the repo

1. launch file -> bring robot simulation

ros2 launch example_robots iiwa14_bringup_launch.py

2. example tests

2.1. Set Point Tracking

ros2 run torque_control_tests iDControlVer2 0 --ros-args --params-file  <WORKSPACE>/torque_controllers/torque_control_tests/config/inverseDynamicsControl.yaml

2.2 Trajectory tracking

ros2 run torque_control_tests iDControlVer2 0 --ros-args --params-file  <WORKSPACE>/torque_controllers/torque_control_tests/config/inverseDynamicsControl.yaml

For more details on changing the set Point and tracking trajectory, readers are referred to the files torque_control_tests/src/iDControlVer2.cpp and torque_control_tests/src/inverseDynamicsControl.cpp

Warning

Since the convergence of the velocity states are asymptotic in nature, one can observe the drift in position very slowly. However, the convergence rate on the velocity state can be increased through increasing gains.

To Do List

1. integration with real robots