Cartesian IK controller for the Franka FR3. Receives a target end-effector pose, computes joint velocities via Jacobian pseudoinverse with nullspace posture control, and publishes them for the safety layer to integrate and forward to the robot.
| Direction | Topic | Type | Description |
|---|---|---|---|
| Sub | safe_target_pose |
PoseStamped |
Safety-checked Cartesian target from robot_safety_layer |
| Sub | joint_states |
JointState |
Actual robot joint positions |
| Pub | target_dq |
JointState (velocity field) |
Desired joint velocities (rad/s) |