This repository aim to create a robot independent torque controller based on ROS2 controllers. There is a base controller that communicate with the hardware interface of the robot, on top of that controller different types of controllers can be implemented. For now only a cartesian impedance controller is implemented but also other type of controllers like for example an admittance controller can be easily added.

Check out their use in the KUKA LBR example here!
This repo also contains a CoppeliaSim hardware interface and scene to test our controllers with simulated Franka robots.

The structure of the code and some libraries have been taken from the repo Cartesian Controllers.