This is a polishing project based on a UR robot and Optoforce F/T sensor.
The ROS driver is forked from ThomasTimm with small modification. The kinemastic model is forked from ros-industrial. The ROS driver of the Optoforce sensor is forked from Optoforce
The Simulink2C fold is generated by a Matlab/Simulink project which is designed as a PI controller.
The fake_etherdaq fold contains a fake F/T sensor node to publish data as the etherdaq_ros node. If you don't have a UR robot or a F/T sensor, download the ur-sim offline simulator to perform a kinematics simulation. The ur-sim has the same communication mode as the real robot.