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A ROS interface library for the Franka Emika Panda robot (real and simulated), extending the [franka-ros][franka-ros] library to expose more information about the robot, and providing low-level control of the robot using ROS and [Python API][fri-doc].
Franka ROS Interface provides utilites for controlling and managing the Franka Emika Panda robot. Contains exposed customisable controllers for the robot (joint position, velocity, torque), interfaces for the gripper, controller manager, coordinate frames interface, etc. Also provides utilities to control the robot using 'MoveIt!' and ROS Trajectory Action & ActionClient. This package also provides almost complete sim-to-real / real-to-sim transfer of code with the [Panda Simulator][ps-repo] package.
Documentation Page: https://justagist.github.io/franka_ros_interface
This branch requires franka_ros release version 0.7.1 
A more unified ROS Python interface built over this package is available at PandaRobot, which provides a more intuitive interface class that combines the different API classes in this package. Simple demos are also available.
- 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][ps-repo] 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.
Demo Using PandaRobot API and Panda Simulator
Watch video here
Watch video here
Watch video here