New controller package #1
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…osition controller fo reset
youliangtan
requested changes
Dec 15, 2023
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Thanks for the PR, added a few feedbacks.
Also, could you
- Add a readme here in regards to quick instructions. Also reference to the original franka examples codebase.
- Also append the readme at https://github.com/rail-berkeley/serl to point to this repo for robot controller code.
CMakeLists.txt
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| project(serl_franka_controllers) | ||
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| set(CMAKE_BUILD_TYPE Release) | ||
| set(CMAKE_CXX_STANDARD 14) |
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does this work with higher CXXX version (e.g. 17 or 20), for forward compatibility
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Yep I updated to 20
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I can add this repo in the serl repo README in the next PR.
package.xml
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| <url type="website">http://wiki.ros.org/franka_example_controllers</url> | ||
| <url type="repository">https://github.com/frankaemika/franka_ros</url> | ||
| <url type="bugtracker">https://github.com/frankaemika/franka_ros/issues</url> | ||
| <author>Franka Emika GmbH</author> |
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Clean this, remove unessasary lines. and maybe add the license to this repo too
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I updated the package information, added a README, and added a python test/example showing how to interact with the controller in python code. |
youliangtan
approved these changes
Dec 19, 2023
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Hi all,
This is the first commit for the Franka controller package, modeled after the
franka_ros/franka_example_controllerspackage. I've only kept the necessary files so this package does not use franka_example_controllers as a dependency. This package can be built and used after installinglibfrankaandfranka_roscompatible with their own FCI firmware version according to the Franka Official guide.This package contains:
roslaunch serl_franka_controllers impedence.launch robot_ip:=<RobotIP> load_gripper:=<true/false>rosrun rqt_reconfigure rqt_reconfigure/target_joint_positionswhen the controller is launched. The parameter can byrosparam set /target_joint_positions '[q1, q2, q3, q4, q5, q6, q7]'after runningroscore