pandaman

ROS2 packages for the Panda robot

Getting started

libfranka

Franka hardware interface is based on libfranka that needs to be installed using the following steps:

    $ sudo apt install build-essential cmake git libpoco-dev libeigen3-dev
    $ git clone --recursive https://github.com/frankaemika/libfranka --branch fr3-develop
    $ cd libfranka
    $ mkdir build
    $ cd build
    $ cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF ..
    $ cmake --build .
    $ cpack -G DEB
    $ sudo dpkg -i libfranka*.deb

ROS2

Required setup : Ubuntu 22.04 LTS

1. Install ros2 packages. The current development is based of ros2 humble. Installation steps are described here.
2. Source your ros2 environment:

   source /opt/ros/humble/setup.bash

   NOTE: The ros2 environment needs to be sources in every used terminal. If only one distribution of ros2 is used, it can be added to the ~/.bashrc file.
3. Install colcon and its extensions :

   sudo apt install python3-colcon-common-extensions

4. Create a new ros2 workspace:

   mkdir ~/ros2_ws/src

5. Pull relevant packages, install dependencies, compile, and source the workspace by using:

   cd ~/ros2_ws
   git clone https://github.com/maberobotics/ilab_franka_robot.git src/ilab_franka_robot
   vcs import src < src/ilab_franka_robot.repos
   rosdep install --ignore-src --from-paths . -y -r
   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
   source install/setup.bash

NOTE: The ilab_franka_robot.repos file contains links to ros2 packages that need to be source-built to use their newest features.

NOTE: If you experience unexpected behavior with the joint_trajectory_controller, you are probably shadowing the default one with the custom version provided by franka_ros2.

Usage

The package comes with a general purpose launch file, which can be run using

$ ros2 launch ilab_franka_bringup ilab_franka.launch.py

Several launch arguments can be used to adapt the launch. These arguments can be shown by running

ros2 launch ilab_franka_bringup ilab_franka.launch.py --show-args

For example, to start the Franka real robot with Moveit2 planning and Rviz2, run

ros2 launch ilab_franka_bringup ilab_franka.launch.py use_fake_hardware:=false use_planning:=true start_rviz:=true robot_ip:=172.16.0.2