Any ros2 package for Force control

[rikhsitlladeveloper]

I am trying to give static pressure on not smooth area.
Need to follow path with static force with Franka fr3.

Any suggestion way for it?

Thanks.

[danielsanjosepro]

Hi @rikhsitlladeveloper,

We developed in our lab a few ROS2 controllers and one of them can accept target_pose, target_joint and particularly interesting for you target_wrench.
It is not FR3 specific (it can be used with other manipulators) but in our lab we only use it with our FR3s.
You can give it a try on the real robot (or mujoco simulated one) using a docker service:

docker compose build launch_franka
ROBOT_IP=xxx.xxx.xxx.xxx docker compose up launch_franka

which you can find in our demos repository (more info here https://utiasdsl.github.io/crisp_controllers/misc/demos/)
We also have some examples with a simple python interface to set targets (poses or wrenches).
Checkout this example: https://github.com/utiasDSL/crisp_py/blob/main/examples/07_apply_force.py
You can do something like:

robot.set_target(pose=your_target_pose)  # pose w.r.t. to global frame where you want to apply static force.
robot.set_target_wrench(force=np.array([0.0, 0.0, 1.0]), torque=np.array([0.0, 0.0, 0.0]))

To apply 1 Newton downwoards (the wrench is wrt to the local frame of the robot).
I will be honest with you, I have not tested the wrench control throughly so it might not work perfectly.
I would be interested to know if this works good enough ;)

Cheers,
Daniel