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Feature: Franka in Jazzy #266

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Merged
merged 3 commits into from
Sep 5, 2025
Merged

Feature: Franka in Jazzy #266

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a2b0c98
Feature: Franka Hand (#252)
luis-camero Jul 28, 2025
cd0f9cf
Define arm_id in joint names to franka_gripper_node
luis-camero Aug 7, 2025
a30eb9f
Rename franka_gripper node
luis-camero Sep 4, 2025
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33 changes: 31 additions & 2 deletions clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,8 @@
import os

from clearpath_config.common.types.platform import Platform
from clearpath_config.manipulators.types.arms import UniversalRobots
from clearpath_config.manipulators.types.arms import Franka, UniversalRobots
from clearpath_config.manipulators.types.grippers import FrankaGripper
from clearpath_config.platform.battery import BatteryConfig
from clearpath_generator_common.common import LaunchFile, Package
from clearpath_generator_common.launch.generator import LaunchGenerator
Expand Down Expand Up @@ -517,8 +518,8 @@ def generate_platform(self) -> None:

def generate_manipulators(self) -> None:
manipulator_service_launch_writer = LaunchWriter(self.manipulators_service_launch_file)
# Universal Robots Tool Communication
for arm in self.clearpath_config.manipulators.get_all_arms():
# Universal Robots Tool Communication
if arm.MANIPULATOR_MODEL == UniversalRobots.MANIPULATOR_MODEL:
node = LaunchFile.Node(
name=f'{arm.name}_ur_tool_comm',
Expand All @@ -536,6 +537,34 @@ def generate_manipulators(self) -> None:
self.manipulators_launch_file.args.append(
('control_delay', '1.0')
)
# Franka Hand Communication
if arm.MANIPULATOR_MODEL == Franka.MANIPULATOR_MODEL:
if arm.gripper:
if arm.gripper.MANIPULATOR_MODEL == FrankaGripper.MANIPULATOR_MODEL:
node = LaunchFile.Node(
name=f'{arm.gripper.name}_controller',
package='franka_gripper',
executable='franka_gripper_node',
namespace=f'{self.namespace}/manipulators',
parameters=[{
'robot_ip': arm.ip,
'joint_names': [
f'{arm.gripper.name}_{arm.gripper.arm_id}_finger_joint1',
f'{arm.gripper.name}_{arm.gripper.arm_id}_finger_joint2'
],
'state_publish_rate': 15, # [Hz]
'feedback_publish_rate': 30, # [Hz]
'default_speed': 0.1, # [m/s]
'default_grasp_epsilon': {
'inner': 0.005, # [m]
'outer': 0.005 # [m]
}
}],
remappings=[
('~/joint_states', f'/{self.namespace}/platform/joint_states')
]
)
manipulator_service_launch_writer.add_node(node)
if self.clearpath_config.manipulators.get_all_manipulators():
manipulator_service_launch_writer.add(self.manipulators_launch_file)
manipulator_service_launch_writer.generate_file()
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