Franka ROS Interface
0.7.1
Contents:
Franka ROS Interface
Setup Instructions
Installation
Dependencies
Usage
The
franka.sh
environments
Starting the Franka ROS Interface ‘Driver’
Controlling and Monitoring the Robot
Some useful ROS topics
Published Topics:
Subscribed Topics:
ROS Services:
Python API
Related Packages
2. Python API Documentation
2.1. franka_interface
2.1.1. ArmInterface
2.1.2. GripperInterface
2.1.3. RobotEnable
2.1.4. RobotParams
2.2. franka_moveit
2.2.1. PandaMoveGroupInterface
2.2.1.1. Helper Functions
2.2.2. ExtendedPlanningSceneInterface
2.3. franka_tools
2.3.1. CollisionBehaviourInterface
2.3.2. FrankaControllerManagerInterface
2.3.3. ControllerParamConfigClient
2.3.4. FrankaFramesInterface
2.3.5. JointTrajectoryActionClient
Franka ROS Interface
»
Index
Index
A
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C
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D
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E
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F
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G
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H
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I
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J
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L
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M
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O
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P
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R
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S
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T
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U
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W
|
Z
A
add_box() (franka_moveit.ExtendedPlanningSceneInterface method)
add_point() (franka_tools.JointTrajectoryActionClient method)
arm_group (franka_moveit.PandaMoveGroupInterface attribute)
ArmInterface (class in franka_interface)
ArmInterface.RobotMode (class in franka_interface)
C
clear() (franka_tools.JointTrajectoryActionClient method)
close() (franka_interface.GripperInterface method)
close_gripper() (franka_moveit.PandaMoveGroupInterface method)
CollisionBehaviourInterface (class in franka_tools)
controller_dict() (franka_tools.FrankaControllerManagerInterface method)
ControllerParamConfigClient (class in franka_tools)
coriolis_comp() (franka_interface.ArmInterface method)
create_pose_msg() (in module franka_moveit.utils)
create_pose_stamped_msg() (in module franka_moveit.utils)
current_controller (franka_tools.FrankaControllerManagerInterface attribute)
D
default_controller (franka_tools.FrankaControllerManagerInterface attribute)
disable() (franka_interface.RobotEnable method)
display_trajectory() (franka_moveit.PandaMoveGroupInterface method)
E
EE_frame_already_set() (franka_tools.FrankaFramesInterface method)
effort_joint_position_controller (franka_tools.FrankaControllerManagerInterface attribute)
enable() (franka_interface.RobotEnable method)
endpoint_effort() (franka_interface.ArmInterface method)
endpoint_pose() (franka_interface.ArmInterface method)
endpoint_velocity() (franka_interface.ArmInterface method)
error_in_current_state() (franka_interface.ArmInterface method)
execute_plan() (franka_moveit.PandaMoveGroupInterface method)
exists (franka_interface.GripperInterface attribute)
exit_control_mode() (franka_interface.ArmInterface method)
ExtendedPlanningSceneInterface (class in franka_moveit)
F
frames_are_same() (franka_tools.FrankaFramesInterface method)
franka_interface (module)
franka_moveit (module)
franka_moveit.utils (module)
franka_tools (module)
FrankaControllerManagerInterface (class in franka_tools)
FrankaFramesInterface (class in franka_tools)
G
get_config() (franka_tools.ControllerParamConfigClient method)
get_controller_config_client() (franka_tools.FrankaControllerManagerInterface method)
get_controller_gains() (franka_tools.ControllerParamConfigClient method)
get_controller_manager() (franka_interface.ArmInterface method)
get_controller_state() (franka_tools.FrankaControllerManagerInterface method)
get_current_controller_config_client() (franka_tools.FrankaControllerManagerInterface method)
get_EE_frame() (franka_tools.FrankaFramesInterface method)
get_flange_pose() (franka_interface.ArmInterface method)
get_frames_interface() (franka_interface.ArmInterface method)
get_gripper_joint_names() (franka_interface.RobotParams method)
get_joint_limits() (franka_interface.ArmInterface method)
(franka_interface.RobotParams method)
get_joint_motion_smoothing_parameter() (franka_tools.ControllerParamConfigClient method)
get_joint_names() (franka_interface.RobotParams method)
get_K_frame() (franka_tools.FrankaFramesInterface method)
get_link_tf() (franka_tools.FrankaFramesInterface method)
get_movegroup_interface() (franka_interface.ArmInterface method)
get_neutral_pose() (franka_interface.RobotParams method)
get_parameter_descriptions() (franka_tools.ControllerParamConfigClient method)
get_robot_name() (franka_interface.RobotParams method)
get_robot_params() (franka_interface.ArmInterface method)
get_robot_status() (franka_interface.ArmInterface method)
go_to_cartesian_pose() (franka_moveit.PandaMoveGroupInterface method)
go_to_joint_positions() (franka_moveit.PandaMoveGroupInterface method)
grasp() (franka_interface.GripperInterface method)
gravity_comp() (franka_interface.ArmInterface method)
gripper_group (franka_moveit.PandaMoveGroupInterface attribute)
GripperInterface (class in franka_interface)
H
has_collided() (franka_interface.ArmInterface method)
home_joints() (franka_interface.GripperInterface method)
I
in_safe_state() (franka_interface.ArmInterface method)
is_enabled() (franka_interface.RobotEnable method)
is_loaded() (franka_tools.FrankaControllerManagerInterface method)
is_running (franka_tools.ControllerParamConfigClient attribute)
is_running() (franka_tools.FrankaControllerManagerInterface method)
J
joint_angle() (franka_interface.ArmInterface method)
joint_angles() (franka_interface.ArmInterface method)
joint_effort() (franka_interface.ArmInterface method)
(franka_interface.GripperInterface method)
joint_efforts() (franka_interface.ArmInterface method)
(franka_interface.GripperInterface method)
joint_impedance_controller (franka_tools.FrankaControllerManagerInterface attribute)
joint_inertia_matrix() (franka_interface.ArmInterface method)
joint_names() (franka_interface.ArmInterface method)
(franka_interface.GripperInterface method)
joint_ordered_angles() (franka_interface.ArmInterface method)
joint_ordered_efforts() (franka_interface.GripperInterface method)
joint_ordered_positions() (franka_interface.GripperInterface method)
joint_ordered_velocities() (franka_interface.GripperInterface method)
joint_position() (franka_interface.GripperInterface method)
joint_position_controller (franka_tools.FrankaControllerManagerInterface attribute)
joint_positions() (franka_interface.GripperInterface method)
joint_torque_controller (franka_tools.FrankaControllerManagerInterface attribute)
joint_trajectory_controller (franka_tools.FrankaControllerManagerInterface attribute)
joint_velocities() (franka_interface.ArmInterface method)
(franka_interface.GripperInterface method)
joint_velocity() (franka_interface.ArmInterface method)
(franka_interface.GripperInterface method)
joint_velocity_controller (franka_tools.FrankaControllerManagerInterface attribute)
JointTrajectoryActionClient (class in franka_tools)
L
list_active_controller_names() (franka_tools.FrankaControllerManagerInterface method)
list_active_controllers() (franka_tools.FrankaControllerManagerInterface method)
list_controller_names() (franka_tools.FrankaControllerManagerInterface method)
list_controller_types() (franka_tools.FrankaControllerManagerInterface method)
list_controllers() (franka_tools.FrankaControllerManagerInterface method)
list_loaded_controllers() (franka_tools.FrankaControllerManagerInterface method)
list_motion_controllers() (franka_tools.FrankaControllerManagerInterface method)
load_controller() (franka_tools.FrankaControllerManagerInterface method)
M
move_joints() (franka_interface.GripperInterface method)
move_to_cartesian_pose() (franka_interface.ArmInterface method)
move_to_joint_positions() (franka_interface.ArmInterface method)
move_to_neutral() (franka_interface.ArmInterface method)
(franka_moveit.PandaMoveGroupInterface method)
O
open() (franka_interface.GripperInterface method)
open_gripper() (franka_moveit.PandaMoveGroupInterface method)
P
PandaMoveGroupInterface (class in franka_moveit)
pause_controllers_and_do() (franka_interface.ArmInterface method)
plan_cartesian_path() (franka_moveit.PandaMoveGroupInterface method)
plan_joint_path() (franka_moveit.PandaMoveGroupInterface method)
R
remove_box() (franka_moveit.ExtendedPlanningSceneInterface method)
reset_EE_frame() (franka_interface.ArmInterface method)
(franka_tools.FrankaFramesInterface method)
reset_K_frame() (franka_tools.FrankaFramesInterface method)
result() (franka_tools.JointTrajectoryActionClient method)
robot_state_interface (franka_moveit.PandaMoveGroupInterface attribute)
RobotEnable (class in franka_interface)
RobotParams (class in franka_interface)
S
scene (franka_moveit.PandaMoveGroupInterface attribute)
set_collision_threshold() (franka_interface.ArmInterface method)
(franka_tools.CollisionBehaviourInterface method)
set_command_timeout() (franka_interface.ArmInterface method)
set_contact_threshold() (franka_tools.CollisionBehaviourInterface method)
set_controller_gains() (franka_tools.ControllerParamConfigClient method)
set_EE_at_frame() (franka_interface.ArmInterface method)
(franka_tools.FrankaFramesInterface method)
set_EE_frame() (franka_interface.ArmInterface method)
(franka_tools.FrankaFramesInterface method)
set_force_threshold_for_collision() (franka_tools.CollisionBehaviourInterface method)
set_force_threshold_for_contact() (franka_tools.CollisionBehaviourInterface method)
set_ft_contact_collision_behaviour() (franka_tools.CollisionBehaviourInterface method)
set_joint_motion_smoothing_parameter() (franka_tools.ControllerParamConfigClient method)
set_joint_position_speed() (franka_interface.ArmInterface method)
set_joint_positions() (franka_interface.ArmInterface method)
set_joint_positions_velocities() (franka_interface.ArmInterface method)
set_joint_torques() (franka_interface.ArmInterface method)
set_joint_velocities() (franka_interface.ArmInterface method)
set_K_at_frame() (franka_tools.FrankaFramesInterface method)
set_K_frame() (franka_tools.FrankaFramesInterface method)
set_motion_controller() (franka_tools.FrankaControllerManagerInterface method)
set_velocity() (franka_interface.GripperInterface method)
set_velocity_scale() (franka_moveit.PandaMoveGroupInterface method)
start() (franka_tools.ControllerParamConfigClient method)
(franka_tools.JointTrajectoryActionClient method)
start_controller() (franka_tools.FrankaControllerManagerInterface method)
state() (franka_interface.RobotEnable method)
stop() (franka_tools.JointTrajectoryActionClient method)
stop_action() (franka_interface.GripperInterface method)
stop_controller() (franka_tools.FrankaControllerManagerInterface method)
T
tip_states() (franka_interface.ArmInterface method)
U
unload_controller() (franka_tools.FrankaControllerManagerInterface method)
update_config() (franka_tools.ControllerParamConfigClient method)
W
wait() (franka_tools.JointTrajectoryActionClient method)
what_errors() (franka_interface.ArmInterface method)
Z
zero_jacobian() (franka_interface.ArmInterface method)