franka_python

Under construction, not guaranteed to work

Python-ROS interface for Franka robot.

Installation

• Install libfranka and franka-ros (more details here)
• Install panda_moveit_config in your catkin_ws.

cd ~/catkin_ws/src
git clone https://github.com/ros-planning/panda_moveit_config.git -b melodic-devel
rosdep update
rosdep install -y --from-paths . --ignore-src --rosdistro melodic

• Clone the repository and install it.

git clone https://github.com/qgallouedec/franka_python
pip install -e franka_python

Usage

Source your catkin_ws and run

roslaunch panda_moveit_config panda_control_moveit_rviz.launch robot_ip:=<robot_ip>

Arm interface

Example script to move the robot to its neutral position:

import franka_python
import rospy

rospy.init_node('my_node')
arm = franka_python.ArmInterface() 
arm.move_to_neutral()

Gripper iterface

Example script to open then close the gripper:

import franka_python
import rospy
import time

rospy.init_node('my_node')
gripper = franka_python.GripperInterface() 
gripper.open()
time.sleep(2)
gripper.close()