MIS_franka

Setup

1. ROS Noetic

2. MoveIt! -> sudo apt install ros-noetic-moveit

3. libfranka + franka_ros -> sudo apt install ros-noetic-libfranka ros-noetic-franka-ros

4. Clone this repository

   git clone https://github.com/KPAaM/MIS-Robot.git

   or

   git clone [email protected]:KPAaM/MIS-Robot.git

5. Build your workspace -> catkin_make

ROS Master-Slave connection

1. Set IP address on your slave PC 192.16.0.2

2. Set these two commands in ~/.bashrc on your slave PC:

   export ROS_MASTER_URI=http://192.16.0.1:11311

   export ROS_IP=192.16.0.2

Connect to the master PC

ssh -X [email protected]

After logging into the master PC you need to release the robot's brakes and allow FCI. By writting firefox into terminal, you will automatically enter Franka DESK where you can do these steps.

Start guide

1. Launch Franka cartesian_velocity_controller and force_controller on master PC:

   roslaunch franka_mis_controllers franka_mis_controllers.launch

2. Launch joystick node (joystick driver + joystick_EEF_controller) on slave PC:

   roslaunch franka_joystick_control joystick_control.launch

Important topics

/joystick_feedback -> Raw data from joystick. For more info check /franka_joystick_control/src/joystick_pub.cpp

/joystick_cartesian_goal -> Commands for Franka representing cartesian velocities

Acknowledgement

franka_ros