arm_id cannot be changed
When using torque_qp controller with a different name_id than "panda" (for multiple robots for example), the torque controller fails initialization:
[ERROR] [1673445985.996617941, 0.367000000]: Exception getting state handle: Could not find resource 'panda_robot' in 'franka_hw::FrankaStateInterface'.
[ERROR] [1673445985.996750506, 0.367000000]: Failed to initialize the controller
[ERROR] [1673445985.996832247, 0.367000000]: Initializing controller 'torque_control' failed
Potential fix: change hard coded ->getHandle("panda_robot")
to ->getHandle(arm_id_ + "_robot")
, like it is done in franka example controllers.
The same issue will appear with velocity_qp.