Franka Catkin packages for the LARICS Christmas fair.
Connect to mission planner:
roslaunch master_discovery_fkie master_discovery.launch
rosrun master_sync_fkie master_sync
Launch:
roslaunch panda_moveit_config panda_control_moveit_rviz.launch robot_ip:=172.16.0.2
rosrun franka_interface move_group_interface_cpp
Trajectory can be triggered through service /frankaStartTrajectory "sauce: [int]" . sauce = 1 chocolate sauce, sauce = 2 strawberry sauce.
Returns true through /franka_sauce_done topic if mission was successful, false if not completed. Usually happens when communication constraints kill libfranka controller. In this case, rerun panda_control_moveit_rviz.launch and move_group_interface_cpp.
Make _scripts/franka_record.py executable. Run:
roslaunch panda_moveit_config panda_control_moveit_rviz.launch robot_ip:=172.16.0.2
rosrun franka_interface franka_record.py
Close the emergency stop button to enable manual control. Move robot to desired positions. Record each joint configuration calling
rosservice call /waypoint_record "command: 1"
Store recorded joint positions to resources/waypoints.json calling
rosservice call /waypoint_record "command: 3"
Copy the recorded positions into ```doc/move_group_interface/src/move_group_interface_tutorial.cpp into chocolate (cJointPoses), strawberry (sJointPoses), or home position (homePosition) waypoints array. Hardcoded procedure of joint and gripper movements explained in code.