    def start_impedance(self):
        """Launches the impedance controller"""
        self.imp = subprocess.Popen(
            [
                "roslaunch",
                self.ros_pkg_name,
                "impedance.launch",
                "robot_ip:=" + self.robot_ip,
                f"load_gripper:={'true' if self.gripper_type == 'Franka' else 'false'}",
            ],
            stdout=subprocess.PIPE,
        )
        time.sleep(5)
Launches the impedance controller
serl_robot_infra/robot_servers/franka_server.py