External torque estimation, URDF refining#41

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marcoesposito1988 wants to merge 15 commits intoCentroEPiaggio:masterfrom marcoesposito1988:arm_state_controller

+215-18

Commits on Jun 25, 2015

Commits on Jun 30, 2015

Commits on Jul 2, 2015

Transform est_ext_wrench to tool reference frame
marcoesposito1988
committed

Commits on Jul 14, 2015

Using jacobian transpose pseudo-inverse
marcoesposito1988
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Commits on Jul 16, 2015

Commits on Jul 20, 2015

Commits on Sep 8, 2015

Optional rviz for moveit in single_lwr.launch
marcoesposito1988
committed

Commits on Sep 25, 2015

Fix parenthesis in lwr_description/utils.xacro
marcoesposito1988
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Commits on Nov 4, 2015

Fixed damping initial value to avoid vibrations
marcoesposito1988
committed

Commits on Sep 7, 2016

Fixed compilation error on 16.04
marcoesposito1988
committed