Under construction, not guaranteed to work
Python-ROS interface for Franka robot.
- Install
libfranka
andfranka-ros
(more details here) - Install
panda_moveit_config
in yourcatkin_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
Source your catkin_ws
and run
roslaunch panda_moveit_config panda_control_moveit_rviz.launch robot_ip:=<robot_ip>
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()
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()