3747413
doi
10.5281/zenodo.3747413
oai:zenodo.org:3747413
franka_ros_interface: Controller and Interface API for Franka Emika Panda Robot Manipulator
Saif Sidhik
IRLab, University of Birmingham
url:https://justagist.github.io/franka_ros_interface/
info:eu-repo/semantics/openAccess
Apache License 2.0
http://www.apache.org/licenses/LICENSE-2.0
<p>API Documentations: <a href="https://justagist.github.io/franka_ros_interface/">https://justagist.github.io/franka_ros_interface/</a></p>
<ul>
<li>Low-level <em>controllers</em> (joint position, velocity, torque, impedance) available that can be controlled through ROS topics and Python API (including position control for gripper).</li>
<li>Real-time <em>robot state</em> (end-effector state, joint state, controller state, etc.) available through ROS topics and Python API.</li>
<li>Python API for managing controllers, coordinate frames, collision behaviour, controlling and monitoring the gripper.</li>
<li>Python API classes and utility functions to control the robot using MoveIt! and ROS Trajectory Action Service.</li>
<li>The <a href="https://github.com/justagist/panda_simulator">panda_simulator</a> 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.</li>
</ul>
Zenodo
2020-04-10
info:eu-repo/semantics/other
3747412
v1.0.0
1614791499.295878
303263
md5:31b631109777f56e280bad711b0def82
https://zenodo.org/records/3747413/files/justagist/franka_ros_interface-v1.0.0.zip
public
https://justagist.github.io/franka_ros_interface/
Documents
url
10.5281/zenodo.3747412
isVersionOf
doi