Risto Kojcev, affiliated with CAMP since 2009, has completed his Google Summer of Code project working on general interfaces for Cartesian force and impedance controls in ROS. Congrats!
As part of Google Summer of Code (GSoC) 2016 directed by the Open Source Robotics Foundation (OSRF) and ROS-Industrial (ROS-I) Consortium, we have developed a user friendly ROS Interface to control and change a manipulator into Cartesian Impedance control mode. The external forces that the robot applies to the environment can also be set with the developed interface.
Below are some of the technical details and relevant repositories that were developed as part of this project.
Visit ROS Industrial.org for more information.