Add JTAC to ur configs (#245)

src/picknik_ur_base_config/config/config.yaml

@@ -196,6 +196,7 @@ ros2_control:
     - "joint_trajectory_controller"
     - "admittance_controller_open_door"
     - "joint_trajectory_controller_chained_open_door"
+    - "joint_trajectory_admittance_controller"
   # Any controllers here will not be spawned by MoveIt Pro.
   # [Optional, default=[]]
   controllers_not_managed: []

src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml

@@ -19,6 +19,8 @@ controller_manager:
       type: admittance_controller/AdmittanceController
     joint_trajectory_controller_chained_open_door:
       type: joint_trajectory_controller/JointTrajectoryController
+    joint_trajectory_admittance_controller:
+      type: moveit_pro_controllers/JointTrajectoryAdmittanceController
 
 io_and_status_controller:
   ros__parameters:
@@ -258,3 +260,18 @@ admittance_controller_open_door:
 
     # general settings
     enable_parameter_update_without_reactivation: true
+
+joint_trajectory_admittance_controller:
+  ros__parameters:
+    joints:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    base_frame: base_link
+    tip_frame: grasp_link
+    sensor_frame: tool0
+    ee_frame: grasp_link
+    ft_sensor_name: tcp_fts_sensor

src/picknik_ur_base_config/package.xml

@@ -14,6 +14,7 @@
   <exec_depend>admittance_controller</exec_depend>
   <exec_depend>kinematics_interface_kdl</exec_depend>
   <exec_depend>moveit_planners_stomp</exec_depend>
+  <exec_depend>moveit_pro_controllers</exec_depend>
   <exec_depend>moveit_ros_perception</exec_depend>
   <exec_depend>moveit_studio_agent</exec_depend>
   <exec_depend>moveit_studio_behavior</exec_depend>