All the work presented in the PhD section are performed on a realtime enabled machine in a mixed environment between OROCOS and ROS. The code can be found here.
During my postdoc at INIRA I implemented a realtime control architecture for the two Panda robots present in the lab. I used OROCOS along side ROS. The code can be found here
Here is a video of two panda robots being control synchronously. The robot on the right is in gravity compensation. The one on the left must follow the joint configuration of the other robot. Both robots run at 1 kHz.
The control architecture also works in simulation on gazebo as shown in the video bellow.
