Panda MoveIt Control

Author: Hongtao Wu

ROS package to control Panda robot with MoveIt via ROS service. The Panda robot requires a realtime kernel to work with. We set up a realtime kernel on a Ubuntu 16.04 desktop and advertise the ROS service to interact with the robot via ROS MultipleMachine.

Installation

• libfranka
• franka_ros
• franka_ros_interface

ROS service

• move_to_joint: control the robot to a joint configuration
• move_to_cartesian: control the robot to a cartesian pose
• move_gripper: control the gripper

Usage

• Initialize MoveIt and Rviz

roslaunch panda_moveit_config panda_control_moveit_rviz.launch robot_ip:=<robot_ip> load_gripper:=<true/false>

• Run the panda control server node

rosrun panda_moveit_ctrl panda_moveit_ctrl_server_node.py

• Control the robot by calling the service. A sample code to control is in scripts/panda_moveit_ctrl_node.py.