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Torque Controller for robot manipulators
November 25, 2024This post explains the importance of torque-based controllers that send torque/force commands for robotic arms and illustrates the difficulty of using them for any robotic arm through ROS 2 and Gazebo Sim. It starts by demonstrating the challenges of using the existing C++ plugins for ros2 controllers. Then, with the aid of classical control theory, this post illustrates how to bridge the gap. Consequently, the robotic arm doesn't collapse to the ground. It holds its position through torque commands generated internally and switches to an external input supply when another node sends the torque command.
Learn MoreROS 2: Some tips and tricks
November 18, 2024Continued from the previous post on using bash aliases for compiling the packages
Learn MoreROS : Some tips and tricks
December, 2022Updated on January 21, 2023
See some tricks and explaination like why running a ros command becomes very slow during auto-completion and launching very large launch file and how to auto launching the nodes at boot time. This post acts as collective reference for robots running with ROS echo system. The topics discussed in this post are 1. Nested filesystem, 2. Gazebo and black shadows, 3. Clock Skew Problem, 4. Auto launch and 5. Bash Aliases.
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