Published April 10, 2020
| Version v1.0.0
Software
Open
franka_ros_interface: Controller and Interface API for Franka Emika Panda Robot Manipulator
Description
API Documentations: https://justagist.github.io/franka_ros_interface/
- Low-level controllers (joint position, velocity, torque, impedance) available that can be controlled through ROS topics and Python API (including position control for gripper).
- Real-time robot state (end-effector state, joint state, controller state, etc.) available through ROS topics and Python API.
- Python API for managing controllers, coordinate frames, collision behaviour, controlling and monitoring the gripper.
- Python API classes and utility functions to control the robot using MoveIt! and ROS Trajectory Action Service.
- The panda_simulator package (which is Gazebo-based simulator for the robot) can also be controlled using this package (ROS and Python interface), providing almost complete sim-to-real transfer of code.
Files
justagist/franka_ros_interface-v1.0.0.zip
Files
(303.3 kB)
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Additional details
Related works
- Documents
- Software documentation: https://justagist.github.io/franka_ros_interface/ (URL)