Feature/Add Joint Impedance Controller

[munseng-flexiv]

Add a custom joint impedance controller for Flexiv hardware effort/torque interface

• Create flexiv_controllers package
• Add JointImpedanceController in flexiv_controllers
• Update flexiv_bringup -> rizon_controllers.yaml config file with joint impedance controller parameters

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Users can start the joint_impedance_controller by changing the controllers argument in the rizon_control.launch

<arg name="controllers" default="joint_state_controller joint_impedance_controller" />

Then starts the robot driver:

$ roslaunch flexiv_bringup rizon_control.launch robot_ip:=[robot_ip] local_ip:=[local_ip]