Wrote a hybrid force controller a long time ago based on the Cartesian controller for the PR2: https://github.com/gt-ros-pkg/hrl-pr2-behaviors/blob/master/hrl_pr2_force_ctrl/src/hybrid_force_controller.cpp From what I remember, you should be able to send it a local direction cosines frame which allows you to decompose the Cartesian controller into control in the 3 linear dimensions and the 3 angular dimensions. For each dimension, you could pick whether it applies a target force using a PI controller or controls to a set point with individually specified impedance gains. Also does control in the null space. It assumes a force torque sensor at the wrist, however. Here's a simple Cartesian position controller I wrote about a year and a half ago: https://github.com/gt-ros-pkg/ros_controllers/tree/cartesian-ctrl/cartesian_position_controller This was designed to work with ros-control, but might have only worked with my fork of ros-control. This should let you set gains for each direction and possibly let you pick the orocos solver for inverse velocity. I can't promise any support, but hopefully this code will point you in the right direction. -Kelsey On Apr 30, 2016 6:39 PM, "KILOREUX Emperex via ros-users" < ros-users@lists.ros.org> wrote: > Hey, > > I am following a Master's degree in robotics and we use ROS extensively > here, I'd be happy to give you a hand or any feedback you need. > > On Sat, Apr 30, 2016 at 11:14 PM, Risto Kojcev via ros-users < > ros-users@lists.ros.org> wrote: > >> Dear ROS Users, >> >> For this year GSoC I would like to develop and Interface for Cartesian >> Impedance/Force Control for ROS. More details of the submitted project idea >> can be found here >> >> . >> >> In order to develop an useful tool for the community I would like to get >> feedback from the ROS users regarding some of the components the interface >> should have to make it more useful and applicable. >> >> Thank you so much for your help. >> >> Risto >> >> _______________________________________________ >> ros-users mailing list >> ros-users@lists.ros.org >> http://lists.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > >