1. the impedance controller: the controller is ok
2. the force sensor related: the force sensor is ok
3. the IMU sensor related:
4. the AUBO5 robot arm: the ros driver is ok

debugging log on 20200703 afternoon:

1. the force sensor is connected and the data is well received, and the command is: rosrun robotiq_ft_sensor rq_sensor rosrun robotiq_ft_sensor rq_test_sensor

2. the IMU sensor is connected and the data is well received, and the command is: roslaunch sensor_startup imu_bringup.launch rostopic echo /imu

3. the AUBO ros driver

debugging log on 20200703 night:

1. the USB port of IMU should be plugged in firstly and then the robotiq force sensor USB port should be plugged in
2. two USB ports should open: ls /dev/ttyUSB* chmod 777 /dev/ttyUSB*
3. roslaunch polishing_undervibration test1.launch which aims to run aubo5 arm, imu and robotiq force sensor

20200704 debugging log:

1. sudo chmod 777 /dev/ttyUSB*
2. roslaunch polishing_undervibration polishingcontrol_configuration.launch
3. rosrun robotiq_ft_sensor robotiq_ft_sensor
4. take the video when polishing tool is away from the wall
5. rosbag record -a
6. rosrun plotjuggler PlotJuggler

the impedance controller has been added here