One of the top reasons to upgrade from ROS1 to ROS2 is better suitability for realtime tasks. We discuss the development of a new ROS2 controller to handle realtime contact tasks such as tool insertion with industrial robots. The admittance controller handles trajectories and single-waypoint streaming commands, making it compatible with MoveIt and many teleoperation frameworks. Part of the work involved ensuring kinematic limits (position/velocity/acceleration/jerk) are obeyed while limiting interaction forces with the environment. Finally, we give practical recommendations and examples of the admittance controller. A live demo will be shown at our booth.
