Panda Robot ¶
The package provides an extensive and unified API for controlling and managing the Franka Emika Robot (and gripper) using pre-defined low-level controllers (position, velocity, torque, joint impedance), MoveIt planners, and JointTrajectory action service.
- Provides simple-intuitive interface classes with methods to directly and easily control the robot using low-level controllers, MoveIt planners, or Trajectory action client.
- Get real-time robot state, joint state, controller state, kinematics, dynamics, etc.
- Provides Kinematics computation (using kdl).
- Integrated with gripper control.
- Manage frames transformation and controller switching using simple utility functions
- Works directly on simulated robot when using Panda Simulator providing direct sim-to-real and real-to-sim code transfer.
Go to Project Source Code.
NOTE: This branch should work with ROS Melodic and ROS Noetic. Tested on:
|ROS Version||Required Python Version|
The following dependencies have to be met before installing PandaRobot:
- Requires ROS Melodic or Noetic (preferably the
desktop-fullversion 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 theInstallationsection. Installing this package correctly would also resolve all the other dependencies for PandaRobot.
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
srcfolder 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).
Note: If using with a real physical Franka Emika Panda robot, the franka_ros_interface ‘driver’ should be running in the ‘master’ environment in one terminal (See Franka ROS Interface instructions for details). Then, any code which uses PandaRobot or Franka ROS Interface should be run in ‘master’ or ‘remote’ environment (as appropriate). When using with Panda Simulator , this package can be used directly without the need for any specific environment as long as this package, the simulator package, and Franka ROS Interface packages are in the same ROS workspace, and correctly sourced.
Basic usage of PandaRobot API is shown below. See scripts folder to see usage of some of the available methods, and example for real-time low-level control of the robot.
import rospy from panda_robot import PandaArm if __name__ == '__main__': rospy.init_node("panda_demo") # initialise ros node r = PandaArm() # create PandaArm instance r.move_to_neutral() # moves robot to neutral pose; uses moveit if available, else JointTrajectory action client pos,ori = r.ee_pose() # get current end-effector pose (3d position and orientation quaternion of end-effector frame in base frame) r.get_gripper().home_joints() # homes gripper joints r.get_gripper().open() # open gripper r.move_to_joint_position([-8.48556818e-02, -8.88127666e-02, -6.59622769e-01, -1.57569726e+00, -4.82374882e-04, 2.15975946e+00, 4.36766917e-01]) # move robot to the specified pose raw_input("Hit enter to continue") # hit enter to continue r.move_to_cartesian_pose(pos,ori) # move the robot end-effector to pose specified by 'pos','ori'