This package was written for ROS melodic running under Ubuntu 18.04. Run the following commands to make sure that all additional packages are installed:
mkdir -p catkin_ws/src cd catkin_ws/src git clone https://github.com/erdalpekel/panda_simulation.git git clone https://github.com/erdalpekel/panda_moveit_config.git git clone --branch simulation https://github.com/erdalpekel/franka_ros.git cd .. sudo apt-get install libboost-filesystem-dev rosdep install --from-paths src --ignore-src -y --skip-keys libfranka cd ..
It is also important that you build the libfranka library from source and pass its directory to catkin_make when building this ROS package as described in this tutorial.
Currently it includes a controller parameter config file and a launch file to launch the Gazebo simulation environment and the Panda robot from FRANKA EMIKA in it with the necessary controllers.
Build the catkin workspace and run the simulation:
catkin_make -j4 -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=/path/to/libfranka/build source devel/setup.bash roslaunch panda_simulation simulation.launch
Depending on your operating systems language you might need to export the numeric type so that rviz can read the floating point numbers in the robot model correctly:
Otherwise, the robot will appear in rviz in a collapsed state.
You can see the full explanation in my blog post.
Extension: MoveIt! constraint-aware planning
This repository was extended with a ROS node that communicates with the MoveIt! Planning Scene API. It makes sure that the motion planning pipeline avoids collision objects in the environment specified by the user in a separate directory (
~/.panda_simulation) as JSON files. You can read more about it in the accompanying blog post.
Extension: Publishing a box at Panda's hand in Gazebo
This repository was extended with a node that publishes a simple box object in the Gazebo simulation at the hand of the robot. The position of this box will get updated as soon as the robot moves. You can read more about it in the accompanying blog post.
Extension: Visual Studio Code Remote Docker
I have added configuration files and additional setup scripts for developing and using this ROS package within a Docker container. Currently user interfaces for Gazebo and RViz are not supported. You can read more about it in the blog post.