Franka using ROS2

Overview

This repository provides ROS 2 packages for controlling single and dual Franka Emika Panda arms using joint position, velocity, torque and impedance controllers. You can use the launch files for real hardware as well as for a simulated environment with fake hardware.

Prerequisites

Ensure you have ROS 2 Humble installed on your system. If not, refer to the official ROS 2 installation guide: ROS 2 Humble Installation

Installation Steps

Follow the commands below to install and build the workspace:

1. Install ROS Development Tools

sudo apt install ros-dev-tools

2. Source ROS 2 Setup

source /opt/ros/humble/setup.sh

3. Create the Workspace and Clone the Repository

mkdir -p ~/franka_ros2_ws/src
cd ~/franka_ros2_ws/src
git clone https://github.com/frankaemika/franka_ros2.git

4. Import Dependencies

vcs import franka_ros2 < franka_ros2/franka.repos --recursive --skip-existing

5. Navigate to the Workspace Root

cd ..

6. Install Dependencies

rosdep install --from-paths src --ignore-src --rosdistro humble -y

7. Build the Workspace

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

8. Clone Controllers Repository (FR3 Controllers)

cd ~/franka_ros2_ws/src
git clone https://github.com/shr-eyas/fr3_controllers.git

9. Build the Workspace

cd ..
colcon build 

10. Source the Workspace Setup

source ~/franka_ros2_ws/install/setup.bash