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custom impedance control plugin, how to initialize impedance matrix

As far as I know, ROS parameters are restricted to single lists of numbers. So you could flatten and reshape the matrix, passing it in from the YAML as a single list of floating point numbers ...
danzimmerman's user avatar
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implement ray-casting in gazebo9, bumped into multithreading issue

Gazebo computes physics updates in the same thread as the worldUpdateBegin event, which is why it worked properly when your code was in that callback. Gazebo also ...
Steven Peters's user avatar
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Issues defining setCommandCB function for a 7 joint robot torque control

Regarding your implementation question, you can look at the existing effort_controllers/ JointEffortController to see what they did. More generally, the ...
Mike973's user avatar
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