Use velocity base forward command controller in simulation.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

Author: Jelmerdw

alliander_core/src/alliander_description/franka/config/controllers.yaml

@@ -20,6 +20,22 @@
       gripper_action_controller:
         type: parallel_gripper_action_controller/GripperActionController
 
+      forward_command_controller:
+        type: forward_command_controller/ForwardCommandController
+
+  forward_command_controller:
+    ros__parameters:
+      type: forward_command_controller/ForwardCommandController
+      interface_name: velocity
+      joints:
+        - fr3_joint1
+        - fr3_joint2
+        - fr3_joint3
+        - fr3_joint4
+        - fr3_joint5
+        - fr3_joint6
+        - fr3_joint7
+
   fr3_arm_controller:
     ros__parameters:
       allow_nonzero_velocity_at_trajectory_end: true

alliander_franka/src/alliander_franka/launch/controllers.launch.py

@@ -42,7 +42,7 @@ def launch_setup(context: LaunchContext) -> list:
         package="controller_manager",
         executable="spawner",
         arguments=[
-            "fr3_arm_controller",
+            "forward_command_controller",
             "--switch-timeout",
             str(TIMEOUT),
         ],

alliander_moveit/src/alliander_franka_moveit_config/config/servo_params.yaml

@@ -34,9 +34,9 @@ pose_tracking:
 ############################## OUTGOING COMMAND SETTINGS #######################
 
 status_topic: "~/status"
-command_out_topic: "/fr3_arm_controller/joint_trajectory"
-command_out_type: "trajectory_msgs/JointTrajectory"
-publish_joint_positions: true
+command_out_topic: "/forward_command_controller/commands"
+command_out_type: "std_msgs/Float64MultiArray"
+publish_joint_positions: false
 publish_joint_velocities: true
 publish_joint_accelerations: false