Franka R - High-Level Motion Library for the Franka Panda Robot Using ROS

Frankr is a high-level C++ and Python API for controlling the Franka Emika Panda Robot through ROS. We are using our own fork of the panda_moveit_config package to control the robot as the default kinetic-devel branch in panda_moveit_config contains wrong information about collisions for the robot. See the Dockerfile for more details on the installation.

Usage

For manual build of the docker image see: INSTALL.md

Pull the docker image:

docker pull dtiresearch/frankr

Run the container:

docker run -it --rm --network=host --privileged \
    -v $(pwd):/home/workspace/test \
    -w /home/workspace/ \
    dtiresearch/frankr

Running the Examples

Open two more terminals and connect them to the running Docker container by docker exec -it ... bash. Then launch the following launch files in these terminals

roslaunch franka_control franka_control robot_ip:=172.16.0.2
roslaunch panda_moveit_config panda_moveit.launch

Now you're ready to test out the examples on your system. Always have a user ready at the emergency stop when moving the (any) robot! Simply run:

python3 examples/gripper.py --host 172.16.0.2
...
python3 examples/home.py

Acknowledgements

Frankr is originally authored by Lars Berscheid from KIT @pantor from which this standalone package is build.

Versions

Currently, frankr is tested against:

1. ROS Kinetic
2. libfranka 0.8.0
3. Panda controller firmware 4.0.4