FreeDriveController

A controller which enhances the “free drive feeling” already achieved by the GravityCompensationController

Usage

Create an entry in your controllers.yaml and add it to your launch file infrastructure. You shall not activate this controller on startup
Unfreeze the arm and activate the controller in addition to the GravityCompensationController.
Free drive motion should be more pleasant now

Configuration example

freedrive_controller:
  ros__parameters:
    joints:
      - shoulder_rotation
      - shoulder_flexion
      - elbow_flexion
      - forearm_rotation
      - wrist_flexion
      - wrist_rotation
    d_gain: 0.005

Interaction

None, only activate, deactivate

Parameters

Name	Description	Default	Bounds
`joints`	List of joint names as described in the URDF the controller shall handle	-	may not be empty
`d_gain`	A stronger d-gain dampens the motion more	0.001	-

Notes

This controller used to be necessary because the interface selection was handled differently - now it is only there to dampen the motion which can improve the free drive feeling