Installation

NOTE: The following instructions are for the 'master' branch of this repo.

It should work with ROS Melodic and ROS Noetic. Tested on:

ROS Version	Required Python Version
Melodic	2.7+
Noetic	3.6+

Dependencies

The following dependencies have to be met before installing PandaRobot:

• Requires ROS Melodic or Noetic (preferably the desktop-full version to cover all dependencies such as PyKDL and MoveIt)

• Franka ROS Interface package. This package should be installed from source (v0.7.1 or master branch) following all instructions in the Installation section. Installing this package correctly would also resolve all the other dependencies for PandaRobot.

Installation

Once the dependencies are installed, the package can be installed either from pypi, or by building from source. Note that the installation may be successful even if the above dependencies are not met, but the package cannot be used until the dependencies are installed.

Install with pip

pip install panda-robot

NOTE: This will not check for the required ROS dependencies. They have to be installed as described in the previous section.

Build from source

If you want to install the package from source, you can either clone this repository and run python setup.py install, or build it as a catkin package in your ROS workspace. To build as catkin package:

• Clone this repo to src folder of your catkin workspace.

• In catkin workspace root, run:

 catkin build
 source devel/setup.bash

Note: This package is written to be compatible with both Python 2 and 3, so make sure you have the Python future module installed (pip install future).