Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Readme updated #2

Merged
merged 3 commits into from
Sep 20, 2024
Merged

Readme updated #2

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
fcae652
Workflow and installation instruction updated
yilmazabdurrah Sep 20, 2024
678ee32
Workflow and installation instruction updated
yilmazabdurrah Sep 20, 2024
977be9a
Workflow and installation instruction updated
yilmazabdurrah Sep 20, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
39 changes: 29 additions & 10 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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Franka Emika has dropped software support for robots older than FR3, which leaves a lot of older hardware outdated and unable to migrate to ROS2.
Expand All @@ -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].
Expand Down Expand Up @@ -69,22 +70,40 @@ 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)
(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 0.9.2 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="$LD_LIBRARY_PATH:/path/to/libfranka/build"`
5. To test, source the workspace, and run `ros2 launch franka_bringup franka.launch.py robot_ip:=<fci-ip>`.
1. Build libfranka 0.8.0 or 0.9.2 from source by following the [instructions][libfranka-instructions]. Choose proper version according to your FCI version! If you need to install libfranka 0.9.2, you can use directly LCAS [libfranka 0.9.2][libfranka-LCAS] release
2. Install FLIR Blackfly_s camera ROS2 driver (required for panda_vision setup), following the [instructions][flir_camera_driver]
3. Clone this repository into your workspace's `src` folder.
4. Source the workspace, then in your workspace root, call:
```bash
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=/path/to/libfranka/build`
```
5. Add the build path to your `LD_LIBRARY_PATH`: `LD_LIBRARY_PATH="$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:=<fci-ip> camera_type:=blackfly_s serial:="'<camera-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][moveit2_commander_recorder] and [viewpoint_generator][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

[fci-docs]: https://frankaemika.github.io/docs

[mcbed-humble]: https://github.com/mcbed/franka_ros2/tree/humble

[libfranka-instructions]: https://frankaemika.github.io/docs/installation_linux.html
[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

[libfranka-LCAS]: https://github.com/LCAS/libfranka/tree/lcas_0.9.2
Loading