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Basic robot operating functionalities

Gripper Control

This repo includes a ros-nodified version of franka_gripper_run that uses the actionlib server from franka_ros/franka_gripper. A simple action client node that open/closes the gripper can be used by running the following:

rosrun franka_interactive_controllers franka_gripper_run_node <command_type>

Where <command_type>= 1 (close) and 0 (open).

To programatically open/close the gripper from your own code check out the franka_gripper_run_node C++ code.

You can also control the gripper with a GUI like in franka_gripper_run. To do so simply run the following script:

rosrun franka_interactive_controllers franka_gui_gripper_run.py

Libfranka Joint and Gripper Controllers

We also include some controllers for joint motion generation to a goal and the open/close gripper bypassing franka_ros; i.e. using solely the libfranka driver.

NOTE: These cannot be used when either of the launch files above are running, but can be useful to quickly setup a robot; i.e. open/close gripper and send to a desired joint configuration.

  • Move robot to desired q_goal:

    rosrun franka_interactive_controllers libfranka_joint_goal_motion_generator <goal_id>

    See cpp file for q_goal definitions, you can replace or add more as you like, you should only recompile. Currently we have:

    • 1: home
    • 2: scooping init
    • 3: right bowl
    • 4: center bowl
    • 5: left bowl

  • Open/Close gripper (same as above but withou the actionlib interface, using ONLY libfranka):

    rosrun franka_interactive_controllers libfranka_gui_gripper_run.py