franka_ros2
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frankaemika
ROS 2 integration for Franka research robots
We have tried to use the position command interface, but found strange motion generation exceptions. We posted to #52, and learned about the `libfranka` bug which requires reading from `initial_joint_position`....
When I use the Cartesian pose interface through `franka_semantic_components`, the arm seems to ignore the Cartesian stiffness values I set through the `/service_center`. The Joint impedance values are respected, but...
To implement a joint position controller (which accepts a topic input), we need to be able to read the current state of the robot. To do this, I added the...
The [`franka_ros`](https://support.franka.de/docs/franka_ros.html?highlight=reflex#franka-control) documentation specifies an `ErrorRecoveryAction` which can be used to restart controller nodes after an error or reflex. **Is there a similar mechanism in `franka_ros2`?** I do not see...
There are still many users of the now EOL Franka Panda robots that are stuck on firmware version 4 and libfranka 0.9. If it is not possible to support libfranka...
## Introduction The aim of this pull request is to get some feedback on an ongoing Cartesian Impedance Controller port of the corresponding ROS1 implementation. The hope is to learn...
Currently, I was trying to visualize the dynamic parameters of the robot using the command ros2 launch franka_bringup model_example_controller.launch.py robot_ip:=dont-care use_fake_hardware:=true use_rviz:=true But I get the following output:  I...
Hi, I was wondering if there was someone already working on porting the cartesian impedance controller to ROS2. If not, could I give it a shot? Thanks in advance
Hello, Because of circunstances I have ros Iron installed and I tried to install franka_ros2 even if humble is the recommended one. So, I followed the steps in the tutorial...
