Controllers

How to modify and add new controllers.

The main config file: franka_server/config/controllers.yaml Used to specify the ROS2 controllers.

Available Controllers

To list all available controllers (with the server running):

ros2 control list_controllers -c /fr3/controller_manager

CRISP Controllers

Adding a new Controller

x. Add the controller to the config file

x. Add the controller name to the launch file so it's loaded In franka_server/launch/franka.launch.py:206

  controllers_list = [
        # --- Broadcasters
        ...
        ["new_controller_name", "--inactive"],
    ]

x. When the server is running, you can check the