Terminal 1: `
roscore
Terminal 2 (hrii_robot_controllers in branch ATES/joint_impedance):
mon launch hrii_fixed_base_robot_controllers joint_impedance_controller.launch robot_id:=panda robot_model:=franka
Terminal 3 (wrapper_moveit):
mon launch wrapper_moveit wrapper_moveit.launch robot_id:=panda
Terminal 4 (panda_moveit_config):
mon launch panda_moveit_config demo_wrapper.launch robot_id:=panda