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Software Open Access

franka_ros_interface: Controller and Interface API for Franka Emika Panda Robot Manipulator

Saif Sidhik

API Documentations:

  • 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.
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