Several upgrades to the provided controllers are required:
- Command target force in cartesian impedance control mode #250
- Document load data calibration #235
- Target poses #245
- Target twist #178
- Pose broadcaster #178
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- Status: Open (in progress).lbr-stack/lbr_fri_ros2_stacknumber 271#271 In lbr-stack/lbr_fri_ros2_stack;