Installation

The 'master' branch works with both ROS Melodic and ROS Noetic, and depends on franka_ros v0.7.1.

NOTE: Tested on:

ROS Version	Python Version	Franka ROS Branch
Melodic	2.7+	melodic-devel
Noetic	3.6+	noetic-devel

Dependencies

• ROS Melodic / Noetic (preferably the 'desktop-full' version)
• libfranka (required version >= 0.8.0) (sudo apt install ros-$ROS_DISTRO-libfranka or install from source). Use the release version if building from source for reliable build.
• franka-ros v0.7.1 (sudo apt install ros-$ROS_DISTRO-franka-ros or install from source). Make sure to use the appropriate branch of franka_ros (melodic-devel or noetic-devel) depending on your ROS version.
• panda_moveit_config (sudo apt install ros-$ROS_DISTRO-panda-moveit-config or install from source (the 'melodic-devel' branch also works for ROS Noetic))
• franka_panda_description (Clone this repository to the src folder of your workspace. See Related Packages section for information about package). NOTE: Installing this package is optional, but recommended. If you do not want to use the franka_panda_description package, make sure you modify the franka_interface/launch/interface.launch file and replace all occurences of franka_panda_description with franka_description (two occurences).

Once the above dependencies are installed, the package can be installed using catkin:

   cd <catkin_ws>
   git clone -b v0.7.1-dev https://github.com/justagist/franka_ros_interface src/franka_ros_interface
   catkin build # or catkin_make (catkin build is recommended)
   source devel/setup.bash

Note: Python code in 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).

After building the package (this is not required if using with simulated robot):

• Copy/move the franka.sh file to the root of the catkin_ws $ cp src/franka_ros_interface/franka.sh ./
• Change the values in the copied file (described in the file).

See usage.