This package implements force control functions including Admittance Control, Force Tracking and Hybrid Force/Impedance Control. Based on kdl_parser and orocos_kdl, it can be used out of box for any robot with wrist-mounted F/T sensor and robot's URDF file, merely with simple work of defining the names of some topics and link frames in the launch file.

Two ways to install the package.

make folder on ~/

cd /home/${username}
mkdir -p ${project}/fc_install_ws

clone git repository

cd ~/${project}/fc_install_ws 
git clone <https://github.com/*.git>

source the setup.bash in install folder and add it into ~/.bashrc

source ~/${project}/fc_install_ws/install/setup.bash
echo 'source ~/${project}/fc_install_ws/install/setup.bash' >> ~/.bashrc

install by .deb package

sudo dpkg -i ros-melodic-force-control_0.0.0-0bionic_amd64.deb
roscd force_control

• Firstly, you should have a robot with velocity command interface of ROS and a 6-D F/T sensor mounted on end-effector.
• Sencondly, you should prepare a URDF file of the robot, and load it through launch file.
• Then, modify the topic names and frame names in the force_control.launch(in install/share/force_control/launch) according the used robot.
• Lastly, after adjusting the parameters in config/fc_params.yaml, launch the force_control.launch