Would you please provide further information about your admittance controller?

[Chunting]

Hi,

1. Do you have any publications about this project?

I want to implement an admittance controller for dual-arm (two UR5 arms) coordinated operation.
Would you please provide more information about your admittance controller and cartesian_velocity_controller?

2. When running the simulation roslaunch cpr_bringup cpr_bringup.launch, I met with the error:
   Coudn't find transforms!,
   would you please give me some tips to fix it? It seems that I need to install ros_falcon, is it this one?

3. When I set sim = false, another errors come out:

[ERROR] [1553151516.720913705]: Could not find parameter robot_description on parameter server
[ INFO] [1553151516.722473671]: Setting prefix to ur5_arm_
[ INFO] [1553151516.722878423]: Reading rosparams from namespace: /ur5
[ INFO] [1553151516.723345986]: Loaded ur_hardware_interface.
[ur5/robot_state_publisher-7] process has died [pid 7418, exit code -11, cmd /opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/chunting/.ros/log/bf8f9c28-4ba6-11e9-be96-8cec4ba87d89/ur5-robot_state_publisher-7.log].
log file: /home/chunting/.ros/log/bf8f9c28-4ba6-11e9-be96-8cec4ba87d89/ur5-robot_state_publisher-7*.log
Loaded joint_state_controller
--------------------> name_space: /ur5/ur5_cartesian_velocity_controller
[ERROR] [1553151517.646763972]: KinematicChainControllerBase: No robot description (URDF)found on parameter server (/ur5/ur5_cartesian_velocity_controller/robot_description)

My environment is Ubuntu 14.04+ROS Indigo+UR5 CB 3.8.

Thanks for your kind assistance.
Chunting