franka_desk

Python client for the Franka Desk REST API, with a ROS 2 bringup wrapper. It automates the web-UI steps required before libfranka / franka_ros2 can talk to a Franka Research robot — take the control token, unlock the joints, and activate the FCI (Franka Control Interface) — and, in ROS 2, publishes when the arm is actually ready to be commanded.

Packages

Package	What it is	Docs
franka_desk	Pure-Python client for the Desk REST API. Published to PyPI.	franka_desk/README.md
franka_desk_bringup	ROS 2 (Jazzy) node wrapping the client — activates the FCI and publishes readiness.	franka_desk_bringup/README.md

Quick start

Python:

pip install franka_desk

from franka_desk import FrankaDeskClient

# Brings the robot up on enter, tears it down on exit.
with FrankaDeskClient("https://<robot-ip>", "<username>", "<password>") as client:
    ...  # FCI active, joints unlocked — connect libfranka / franka_ros2

ROS 2 (Jazzy):

ros2 launch franka_desk_bringup franka_desk_bringup.launch.py \
    robot_url:=https://<robot-ip> password:=<password>

See each package's README for full instructions.

Requirements

• franka_desk: Python ≥ 3.11 (uses datetime.UTC), requests.
• franka_desk_bringup: ROS 2 Jazzy + franka_desk.

Development

CI (GitHub Actions) runs on every push and PR: it lints and builds franka_desk on Python 3.11 / 3.12, colcon builds the ROS 2 wrapper, and publishes franka_desk to PyPI on a v* tag.

License

MIT © Technical University of Munich — see LICENSE.