Basic utility applications to support projects using Franka Emika Robots (née Panda), focused mostly around teleoperation tasks. This is very much a work-in-progress.
- Create a directory in the source folder, e.g.,
mkdir build. - Change to the build directory,
cd build. - Run cmake on the source,
cmake ... - Run make to build the source,
make.
Listens for updates from a leader robot and attempts to copy the motion.
Publishes joint states and velocities.
CapnProto is used for message serialisation/deserialisation during transmission and recording. See messages/robot-state.capnp for the message structure. Each message is 136 bytes.
send:
host: "224.3.29.71"
port: 49186
rate: 1000
receive:
host: "224.3.29.71"
port: 49186
robot:
host: "172.16.0.2"
autorecovery:
enabled: true
wait_time_ms: 500
cutoff_frequency: 1000.0
rate_limit: true
collision_behaviour:
lower_torque_thresholds:
joint1: 10.0
joint2: 10.0
joint3: 10.0
joint4: 10.0
joint5: 10.0
joint6: 10.0
joint7: 10.0
upper_torque_thresholds:
joint1: 1000.0
joint2: 1000.0
joint3: 1000.0
joint4: 1000.0
joint5: 1000.0
joint6: 1000.0
joint7: 1000.0
lower_force_thresholds:
x: 10.0
y: 10.0
z: 10.0
R: 10.0
P: 10.0
Y: 10.0
upper_force_thresholds:
x: 1000.0
y: 1000.0
z: 1000.0
R: 1000.0
P: 1000.0
Y: 1000.0
joint_impedance:
joint1: 3000
joint2: 3000
joint3: 3000
joint4: 2500
joint5: 2500
joint6: 2000
joint7: 2000
cartesian_impedance:
x: 3000
y: 3000
z: 3000
R: 300
P: 300
Y: 300
stiffness:
joint1: 600
joint2: 600
joint3: 600
joint4: 600
joint5: 250
joint6: 150
joint7: 50
damping:
joint1: 50
joint2: 50
joint3: 50
joint4: 50
joint5: 30
joint6: 25
joint7: 15