Franka Controllers

For more information of the franka software setup, please refer to Setup > SETUP.md

For more information of the prerequisites of controller setup, please refer to Setup > CONTROLLER.md

For more information of the robot parameter reading, please refer to Setup > TRANSMAT.md

For more information of the two panda setup, please refer to Setup > DUALCONTROLLER.md

To compile the file after modified the code:

cd catkin_ws 
source /opt/ros/melodic/setup.sh 
rosdep install --from-paths src --ignore-src --rosdistro melodic -y --skip-keys libfranka 
catkin_make -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=/opt/ros/melodic/lib/libfranka/build 
source devel/setup.sh 

To source directories:

Open the bashrc file:

gedit .bashrc

Source the commands:

source /opt/ros/melodic/setup.sh
source ~/catkin_ws/devel/setup.bash
source ~/ws_moveit/devel/setup.bash
source ~/catkin_ws/devel/setup.bash

joint impedance controller

roslaunch franka_panda_controller_swc joint_impedance_controller.launch robot_ip:=172.16.0.2 load_gripper:=true

joint position controller

roslaunch franka_panda_controller_swc joint_position_controller.launch robot_ip:=172.16.0.2 load_gripper:=true

cartesian impedance controller

roslaunch franka_panda_controller_swc cartesian_impedance_controller.launch robot_ip:=172.16.0.2 load_gripper:=true

dual cartisan impedance controller

roslaunch franka_panda_controller_swc dual_arm_cartesian_impedance_controller.launch

---

Plot velocities and distance of dual cartisan impedance controller porject

rqt_plot /panda_dual/dual_arm_cartesian_impedance_controller/velocity/distance
rqt_plot /panda_dual/dual_arm_cartesian_impedance_controller/velocity/left_vel
rqt_plot /panda_dual/dual_arm_cartesian_impedance_controller/velocity/right_vel

---

To record the data

rosbag record -O subset /panda_dual/dual_arm_cartesian_impedance_controller/velocity