From fcae652b7bd766f4af57e418a7df2a2bf9f3815b Mon Sep 17 00:00:00 2001 From: Abdurrahman Yilmaz Date: Fri, 20 Sep 2024 16:30:10 +0100 Subject: [PATCH 1/3] Workflow and installation instruction updated --- README.md | 30 ++++++++++++++++++++---------- 1 file changed, 20 insertions(+), 10 deletions(-) diff --git a/README.md b/README.md index b114977c..3e8fee56 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# (WIP) ROS 2 port of franka_ros for Panda (FER) robots +# ROS2 port of franka_ros for Franka Emika Panda (FER) robots This project is for porting over the various functionalities from franka_ros into ROS2 for Panda robots. Franka Emika has dropped software support for robots older than FR3, which leaves a lot of older hardware outdated and unable to migrate to ROS2. @@ -7,7 +7,8 @@ This repository attempts to remedy that somewhat, by bringing existing features As of 16.11.23, almost all single-robot `franka_ros` features have been migrated, including different controller interfaces, error recovery, and runtime parameter setters. Multi-arm support is also available via `franka_multi_hardware_interface`, launched via `dual_franka_launch.py`. -The repo is still in active development, and I will try to address any missing features or bugs as soon as possible. +For upgraded version of this repo including MuJoCo simulator version of Franka Panda arm, please visit [this repository][ +https://github.com/yilmazabdurrah/multi_franka_arm_ros2] ## Credits The original version is forked from mcbed's port of franka_ros2 for [humble][mcbed-humble]. @@ -69,17 +70,26 @@ The original version is forked from mcbed's port of franka_ros2 for [humble][mcb ## Installation Guide -(Tested on Ubuntu 22.04, ROS2 Humble, Panda 4.2.2 & 4.2.1, and Libfranka 0.9.2) - -1. Build libfranka 0.9.2 from source by following the [instructions][libfranka-instructions]. -2. Clone this repository into your workspace's `src` folder. -3. Source the workspace, then in your workspace root, call: `colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=/path/to/libfranka/build` -4. Add the build path to your `LD_LIBRARY_PATH`: `LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/path/to/libfranka/build"` -5. To test, source the workspace, and run `ros2 launch franka_bringup franka.launch.py robot_ip:=`. +(Tested on Ubuntu 22.04, ROS2 Humble, Panda 4.2.2 & 4.2.1, and Libfranka 0.8.0 and 0.9.2) + +1. Build libfranka 0.8.0 or 0.9.2 from source by following the [instructions][libfranka-instructions]. Choose proper version according to your FCI version. +2. Install FLIR Blackfly_s camera ROS2 driver (required for panda_vision setup), following the [instructions][https://github.com/LCAS/flir_camera_driver] +3. Clone this repository into your workspace's `src` folder. +4. Source the workspace, then in your workspace root, call: +```bash +colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=/path/to/libfranka/build` +``` +5. Add the build path to your `LD_LIBRARY_PATH`: `LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/path/to/libfranka/build"` +6. To test, source the workspace, and run: +```bash +ros2 launch franka_moveit_config moveit_real_arm_platform.launch.py robot_ip:= camera_type:=blackfly_s serial:="''" load_camera:=True +``` +Example robot_ip:=172.16.0.2, serial:="'22141921'" +7. To control the arm by MoveIt2 for plant scanning, please follow [moveit2_commander_recorder][https://github.com/LCAS/moveit2_commander_recorder] and [viewpoint_generator][https://github.com/LCAS/viewpoint_generator] repositories. ## License -All packages of `panda_ros2` are licensed under the [Apache 2.0 license][apache-2.0], following `franka_ros2`. +All packages of `franka_arm_ros2` are licensed under the [Apache 2.0 license][apache-2.0], following `franka_ros2` and `panda_ros2`. [apache-2.0]: https://www.apache.org/licenses/LICENSE-2.0.html From 678ee324c317808316272cc9d7fb0c41fac0b4c4 Mon Sep 17 00:00:00 2001 From: Abdurrahman Yilmaz Date: Fri, 20 Sep 2024 16:34:51 +0100 Subject: [PATCH 2/3] Workflow and installation instruction updated --- README.md | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 3e8fee56..8bd5aeac 100644 --- a/README.md +++ b/README.md @@ -73,7 +73,7 @@ The original version is forked from mcbed's port of franka_ros2 for [humble][mcb (Tested on Ubuntu 22.04, ROS2 Humble, Panda 4.2.2 & 4.2.1, and Libfranka 0.8.0 and 0.9.2) 1. Build libfranka 0.8.0 or 0.9.2 from source by following the [instructions][libfranka-instructions]. Choose proper version according to your FCI version. -2. Install FLIR Blackfly_s camera ROS2 driver (required for panda_vision setup), following the [instructions][https://github.com/LCAS/flir_camera_driver] +2. Install FLIR Blackfly_s camera ROS2 driver (required for panda_vision setup), following the [instructions][flir_camera_driver] 3. Clone this repository into your workspace's `src` folder. 4. Source the workspace, then in your workspace root, call: ```bash @@ -84,8 +84,9 @@ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=/path/to/ ```bash ros2 launch franka_moveit_config moveit_real_arm_platform.launch.py robot_ip:= camera_type:=blackfly_s serial:="''" load_camera:=True ``` -Example robot_ip:=172.16.0.2, serial:="'22141921'" -7. To control the arm by MoveIt2 for plant scanning, please follow [moveit2_commander_recorder][https://github.com/LCAS/moveit2_commander_recorder] and [viewpoint_generator][https://github.com/LCAS/viewpoint_generator] repositories. +Example `robot_ip:=172.16.0.2`, `serial:="'22141921'"` + +7. To control the arm by MoveIt2 for plant scanning, please follow [moveit2_commander_recorder][moveit2_commander_recorder] and [viewpoint_generator][viewpoint_generator] repositories. ## License @@ -97,4 +98,10 @@ All packages of `franka_arm_ros2` are licensed under the [Apache 2.0 license][ap [mcbed-humble]: https://github.com/mcbed/franka_ros2/tree/humble -[libfranka-instructions]: https://frankaemika.github.io/docs/installation_linux.html \ No newline at end of file +[libfranka-instructions]: https://frankaemika.github.io/docs/installation_linux.html + +[flir_camera_driver]: https://github.com/LCAS/flir_camera_driver + +[moveit2_commander_recorder]: https://github.com/LCAS/moveit2_commander_recorder + +[viewpoint_generator]: https://github.com/LCAS/viewpoint_generator \ No newline at end of file From 977be9a9d0d58dd76c8244d291b72e5e64fae071 Mon Sep 17 00:00:00 2001 From: Abdurrahman Yilmaz Date: Fri, 20 Sep 2024 16:41:07 +0100 Subject: [PATCH 3/3] Workflow and installation instruction updated --- README.md | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 8bd5aeac..2e4b350a 100644 --- a/README.md +++ b/README.md @@ -70,9 +70,9 @@ The original version is forked from mcbed's port of franka_ros2 for [humble][mcb ## Installation Guide -(Tested on Ubuntu 22.04, ROS2 Humble, Panda 4.2.2 & 4.2.1, and Libfranka 0.8.0 and 0.9.2) +(Tested on Ubuntu 22.04, ROS2 Humble, Panda FCI 4.0.4, 4.2.2 and 4.2.1, and Libfranka 0.8.0 and 0.9.2) -1. Build libfranka 0.8.0 or 0.9.2 from source by following the [instructions][libfranka-instructions]. Choose proper version according to your FCI version. +1. Build libfranka 0.8.0 or 0.9.2 from source by following the [instructions][libfranka-instructions]. Choose proper version according to your FCI version! If you need to install libfranka 0.9.2, you can use directly LCAS [libfranka 0.9.2][libfranka-LCAS] release 2. Install FLIR Blackfly_s camera ROS2 driver (required for panda_vision setup), following the [instructions][flir_camera_driver] 3. Clone this repository into your workspace's `src` folder. 4. Source the workspace, then in your workspace root, call: @@ -104,4 +104,6 @@ All packages of `franka_arm_ros2` are licensed under the [Apache 2.0 license][ap [moveit2_commander_recorder]: https://github.com/LCAS/moveit2_commander_recorder -[viewpoint_generator]: https://github.com/LCAS/viewpoint_generator \ No newline at end of file +[viewpoint_generator]: https://github.com/LCAS/viewpoint_generator + +[libfranka-LCAS]: https://github.com/LCAS/libfranka/tree/lcas_0.9.2 \ No newline at end of file