https://github.com/rickstaa/real-panda-control-examples
A small example repository that contains examples for controlling the real Panda robot.
https://github.com/rickstaa/real-panda-control-examples
control franka-emika moveit
Last synced: 8 months ago
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A small example repository that contains examples for controlling the real Panda robot.
- Host: GitHub
- URL: https://github.com/rickstaa/real-panda-control-examples
- Owner: rickstaa
- Created: 2020-08-10T12:21:48.000Z (almost 6 years ago)
- Default Branch: noetic-devel
- Last Pushed: 2022-07-24T11:13:35.000Z (almost 4 years ago)
- Last Synced: 2025-02-01T15:22:54.676Z (over 1 year ago)
- Topics: control, franka-emika, moveit
- Language: Python
- Homepage:
- Size: 51.8 KB
- Stars: 4
- Watchers: 3
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
Awesome Lists containing this project
README
# Real panda control examples
This repository contains several examples for controlling the real panda robot. It was created as a supplement to the official [panda documentation](https://frankaemika.github.io/docs/installation_linux.html). Further it serves as a storage place for several problems I encountered while working with the panda robot (see the [discussions section](https://github.com/rickstaa/real-panda-control-examples/discussions)).
## Clone instructions
To clone the repository use the following command:
```bash
mkdir real_catkin_ws
cd real_catkin_ws
git clone --recurse-submodules https://github.com/rickstaa/real_panda_control_examples.git src
```
## Build instructions
Install the ROS package dependencies using the following command:
```bash
rosdep install --from-paths src --ignore-src --rosdistro melodic -y
```
The catkin package can be build by executing one of the following commands:
```bash
catkin build -j4 -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=~/libfranka/build
```
## Franka ros examples
Please see [this discussion post](https://github.com/rickstaa/real-panda-control-examples/discussions/4) that explains how to run the example launch files provided by Emika Franka.
## Moveit example launch instructions
To test out Moveit control, after you build and sourced the catkin workspace, you can launch the example included in the `panda_moveit_config` using the following command:
```bash
roslaunch panda_moveit_config panda_control_moveit_rviz.launch load_gripper:=true robot_ip:=172.16.0.2
```
Additionally the `real_panda_control_examples` contains a slightly modified version of this example:
```bash
roslaunch real_panda_control_examples real_panda_moveit_control.launch
```
## Trajectory control example launch instructions
To test out Trajectory control, after you build and sourced the catkin workspace, you can launch the example included in the `panda_moveit_config` using the following command:
```bash
roslaunch panda_moveit_config panda_control_moveit_rviz.launch load_gripper:=true robot_ip:=172.16.0.2
```
Additionally the `real_panda_control_examples` contains a slightly modified version of this example:
```bash
roslaunch real_panda_control_examples real_panda_traj_control.launch
```
## Contributing
Feel free to open an issue if you have ideas on how to make this GitHub action better or if you want to report a bug! All contributions are welcome. :rocket: Please consult the [contribution guidelines](CONTRIBUTING.md) for more information.