Getting Started

Please follow the steps to test the package:

  • Switch ON the franka control box and wait till the robot_status is yellow.
  • Release the brakes by logging into the robot.

Note

type the command source to catkin_ws/devel/setup.bash, if required.

  • For recording the joint angles the model_example_controller is used. launch the following
    roslaunch franka_example_controllers model_example_controller.launch robot_ip:=130.230.37.113 load_gripper:=true

    this will record the joint angles and create a txt file to be read by panda_python.

    Note

    To be developed: Utlilise “Moveit” to record joint angles and create a GUI to record joint angles according to user input

  • Open four terminals and type the following in each of them:

    # terminal 1: roslaunch franka_control franka_control.launch robot_ip:=130.230.37.113 arm_id:=panda  load_gripper:=true
# terminal 2: roslaunch franka_gripper franka_gripper.launch robot_ip:=130.230.37.113
# terminal 3: roslaunch panda_moveit_config panda_moveit.launch controller:=position
# terminal 4: roslaunch panda_moveit_config moveit_rviz.launch

  • Run the node my_panda_moveit.py

Note

Link to videos: