This stack implements a controller that executes trajectories for force/impedance control of the end effector of a chain of joints. Each point on the trajectory specifies a wrench or a stiffness around a Cartesian degree of freedom as well as a Cartesian position and orientation.

The stack contains four packages. For details, see the wiki pages of the individual packages:


The ee_cart_imped stack is part of the mit-ros-pkg repository. To download the most recent version of the stack without downloading the whole repository, navigate to a directory on your ROS_PACKAGE_PATH where you want the stack installed and type:

svn co

Upgrading from a Previous Version

In September, 2011 we found that the controller had a race condition that could cause the robot to crash if given many goals in quick succession. This has been fixed in all code available after October, 2011. If you downloaded the code before October, 2011, we strongly recommend you upgrade to a newer version. There are currently three newer versions available:

  • CTurtle release (version 0.1): This release contained a race condition. Please upgrade to one of the other two releases.

  • Diamondback release (version 0.2): This release was intended to be as backwards compatible as possible to the initial 0.1 release. The ee_cart_imped_msgs/StiffPoint message had to be changed, but any code that worked through only the EECartImpedArm interface will not need to be changed. To download this release, you must check it out from the mit-ros-pkg tags directory:

svn co
  • Electric release (version 1.1): This release changed the structure of the ee_cart_imped stack. It may not backwards compatible with version 0.1 code, especially if the code did not go only through the EECartImpedArm class. To download this release, you must check it out from the mit-ros-pkg tags directory:

svn co
  • Fuerte release (version 1.2): This release removes the declared dependency on Eigen (the code has otherwise not changed). Thanks to Yusuke at JSK for the patch! To download this release, you can use the downloading instructions or check it out from the mit-ros-pkg tags directory:

svn co

Using the Stack

For instructions on using the stack, see the wiki pages of the individual packages or look at the tutorials. These tutorials are valid for the Electric release and beyond but not the diamondback release.

Report a Bug

Please contact the stack maintainers directly to report a bug.

Wiki: ee_cart_imped (last edited 2013-02-07 18:05:08 by JennyBarry)