ROS IndexPackage Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-03-06 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
franka_example_controllers provides example code for controllingFranka Robotics research robots with ros2_control
Additional Links
No additional links.
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package franka_example_controllers
1.0.0 (2025-01-22)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_example_controllers at Robotics Stack Exchange
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/tenfoldpaper/multipanda_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-03-07 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
franka_example_controllers provides example code for controlling Franka Emika research robots with ros2_control
Additional Links
No additional links.
Maintainers
- Franka Emika GmbH
Authors
No additional authors.
Custom Franka Controllers
Description
This README is a tutorial for creating a custom controller by yourself. The joint_impedance_controller and cartesian_impedacne_controller are already implemented.
Please make sure you are able to build the bimanual_archetecture before starting customize your own controllers :)
Also, please make sure you have installed the rqt_controller_manager with sudo apt-get install ros-humble-rqt-controller-manager.
Create your own controller Step by Step
-
Implement the header file in
/include/franka_controllersas<name_your_controller>.hppand source file in/srcas<name_your_controller>.cpp. Templates of both header file and cpp file are created, please refer to the templates for more detailed notice on implementation. (The custom controller is only registered in/franka_bringup/config/sim_controller.yamlfor bring up.) -
Edit
CMakeLists.txt. Add your controller inadd_library:
add_library(
${PROJECT_NAME}
SHARED
src/joint_impedance_controller.cpp
src/<name_your_controller>.cpp
)
Edit franka_controller.xml. Add your controller under <library path="franka_controllers">...</library>:
<class name="franka_controllers/<NameYourController>"
type="franka_controllers::<NameYourController>" base_class_type="controller_interface::ControllerInterface">
<description>
Description of your controller...
</description>
</class>
Try to build the franka_controllers pkg with colcon build --packages-select franka_controllers after you finish the implementation. If there is no problem, let’s move on to the last step :)
- Load necessary parameters and register your controller at
rqt_controller_manager. Go tofranka_bringuppkg. Under/config, add your controller intocontrollers.yaml/sim_controller.yaml/dual_controllers.yaml/dual_sim_controllers.yaml. Choose the yaml file you need according to the launch file your are using (can be found inlaunchunderfranka_bringup).
Register your controller at controller manager:
controller_manager:
ros__parameters:
update_rate: 1000 # Hz
joint_impedance_controller:
type: franka_controllers/JointImpedanceController
<name_your_controller>:
type: franka_controllers/<NameYourController>
Then edit necessary parameters to be loaded under like:
<name_your_controller>:
ros__parameters:
arm_id: panda
<parameter_1>: <xxx>
<parameters_2>:
- <xxx>
- <xxx>
- BINGO! You have finished customizing your controller. Launch the
bimaunual_archecture. Run therqt_controller_managerwithros2 run rqt_controller_manager rqt_controller_manager. You should be able see your custom controller in the controller list. GOOD LUCK!
Adapted Impedance Controller
The joint & cartesian impedance controllers are already adapted to general purpose controller from the example given by Franka. You could directly use them or modify them as you like.
Joint Impedance Controller
The controller subsribes to the desired joint position under the topic /joint_impedance/joints_desired. The msg type is std_msgs::msg::Float64MultiArray. To use it, you need to publish a 1d array containing the 7-Dof joint position under this topic. Example of the msg:
from std_msgs.msg import Float64MultiArray
msg = Float64MultiArray()
msg.data = [0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0]
This controller is registered in controllers.yaml and sim_controllers.yaml.
Joint Impedance Controller
The controller subsribes to the desired cartesian position under the topic /cartesian_impedance/pose_desired. The msg type is std_msgs::msg::Float64MultiArray. To use it, you need to publish a 1d array containing the 3-Dof position array and 9-Dof orientation matrix under this topic. The position array is in the first three entries while the last nie entries contain the orientation matrix. The way to reformat the orientation matrix is shown in the following example. Example of the msg:
from std_msgs.msg import Float64MultiArray
msg = Float64MultiArray()
position = [p1, p2, p3]
orientation = [
[a11, a12, a13],
[a21, a22, a23],
[a31, a32, a33]
]
msg.data = [p1, p2, p3, a11, a12, a13, a21, a22, a23, a31, a32, a33]
This controller is registered in sim_controllers.yaml.
P.S.: It was tried that to also directly receive a quaternion for orientation. However, it will lead to instability. It seems that the orientation quaternion has to be converted from matrix by Eigen::Quaterniond inside the controller. Since the user can also transform a quaternion into matrix outside the controller, the feature to receive quaternion is abandoned. If you still need such feature, feel free to contact the maintainer and have a discussion about it :)
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_example_controllers at Robotics Stack Exchange
|
franka_example_controllers package from franka_ros repofranka_control franka_description franka_example_controllers franka_gazebo franka_gripper franka_hw franka_msgs franka_ros franka_visualization |
Package Summary
| Tags | No category tags. |
| Version | 0.10.1 |
| License | Apache 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2022-09-16 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
franka_example_controllers provides example code for controlling Franka Emika research robots with ros_control
Additional Links
Maintainers
- Franka Emika GmbH
Authors
- Franka Emika GmbH
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo | |
| franka_ros |
Launch files
- launch/teleop_gripper.launch
-
- robot_id
- leader_ip
- follower_ip
- leader_id [default: panda_1]
- follower_id [default: panda_2]
- gripper_homed [default: false]
- launch/joint_impedance_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/force_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/move_to_start.launch
-
- robot_ip
- arm_id [default: panda]
- transmission [default: effort] — The type of position control to use (either 'position' or 'effort')
- launch/joint_position_example_controller.launch
-
- arm_id [default: fr3]
- launch/joint_velocity_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/cartesian_velocity_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/cartesian_impedance_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/dual_arm_cartesian_impedance_example_controller.launch
-
- robot_ips
- robot_id [default: panda_dual]
- rviz [default: true]
- rqt [default: true]
- launch/cartesian_pose_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/elbow_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/model_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/teleop_joint_pd_example_controller.launch
-
- leader_ip — left robot from user persepective standing in front of the robots for a robot setup according to $(find franka_description)/robots/dual_panda/dual_panda_example.urdf.xacro
- follower_ip — right robot from user persepective standing in front of the robots for a robot setup according to $(find franka_description)/robots/dual_panda/dual_panda_example.urdf.xacro
- robot_id [default: panda_teleop] — name of the 2-arm robot
- debug [default: false] — publish debug information and enable dynamic parameter tuning
- rviz [default: true] — open rviz on launch to show the virtual robot setup
- load_gripper [default: false] — start teleoperation for the grippers (full open/close is mirrored to follower)
- gripper_homed [default: false] — is the gripper already homed? If not the gripper will perform an initial homing motion
Messages
Services
No service files found
Plugins
Recent questions tagged franka_example_controllers at Robotics Stack Exchange
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
|
|
franka_example_controllers package from franka_ros repofranka_control franka_description franka_example_controllers franka_gripper franka_hw franka_msgs franka_ros franka_visualization panda_moveit_config |
Package Summary
| Tags | No category tags. |
| Version | 0.6.0 |
| License | Apache 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros.git |
| VCS Type | git |
| VCS Version | lunar-devel |
| Last Updated | 2018-08-08 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
franka_example_controllers provides example code for controlling Franka Emika research robots with ros_control
Additional Links
Maintainers
- Franka Emika GmbH
Authors
- Franka Emika GmbH
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_ros |
Launch files
- launch/joint_impedance_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/force_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/move_to_start.launch
-
- robot_ip
- launch/joint_position_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/joint_velocity_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/cartesian_velocity_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/cartesian_impedance_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/cartesian_pose_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/elbow_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/model_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
Messages
Services
No service files found
Plugins
Recent questions tagged franka_example_controllers at Robotics Stack Exchange
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
|
|
franka_example_controllers package from franka_ros repofranka_control franka_description franka_example_controllers franka_gazebo franka_gripper franka_hw franka_msgs franka_ros franka_visualization |
Package Summary
| Tags | No category tags. |
| Version | 0.8.0 |
| License | Apache 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2021-08-06 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
franka_example_controllers provides example code for controlling Franka Emika research robots with ros_control
Additional Links
Maintainers
- Franka Emika GmbH
Authors
- Franka Emika GmbH
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo | |
| franka_ros |
Launch files
- launch/teleop_gripper.launch
-
- robot_id
- leader_ip
- follower_ip
- leader_id [default: panda_1]
- follower_id [default: panda_2]
- gripper_homed [default: false]
- launch/joint_impedance_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/force_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/move_to_start.launch
-
- robot_ip
- launch/joint_position_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/joint_velocity_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/cartesian_velocity_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/cartesian_impedance_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/dual_arm_cartesian_impedance_example_controller.launch
-
- robot_ips
- robot_id [default: panda_dual]
- rviz [default: true]
- rqt [default: true]
- launch/cartesian_pose_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/elbow_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/model_example_controller.launch
-
- robot_ip
- load_gripper [default: true]
- launch/teleop_joint_pd_example_controller.launch
-
- leader_ip
- follower_ip
- robot_id [default: panda_teleop]
- debug [default: false]
- rviz [default: true]
- load_gripper [default: false]
- gripper_homed [default: false]
Messages
Services
No service files found
Plugins
Recent questions tagged franka_example_controllers at Robotics Stack Exchange
|
|
franka_example_controllers package from franka_ros repofranka_control franka_description franka_example_controllers franka_gazebo franka_gripper franka_hw franka_msgs franka_ros franka_visualization |
Package Summary
| Tags | No category tags. |
| Version | 0.10.1 |
| License | Apache 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2022-09-16 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
franka_example_controllers provides example code for controlling Franka Emika research robots with ros_control
Additional Links
Maintainers
- Franka Emika GmbH
Authors
- Franka Emika GmbH
README
No README found.
See repository README.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo | |
| franka_ros |
Launch files
- launch/teleop_gripper.launch
-
- robot_id
- leader_ip
- follower_ip
- leader_id [default: panda_1]
- follower_id [default: panda_2]
- gripper_homed [default: false]
- launch/joint_impedance_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/force_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/move_to_start.launch
-
- robot_ip
- arm_id [default: panda]
- transmission [default: effort] — The type of position control to use (either 'position' or 'effort')
- launch/joint_position_example_controller.launch
-
- arm_id [default: fr3]
- launch/joint_velocity_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/cartesian_velocity_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/cartesian_impedance_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/dual_arm_cartesian_impedance_example_controller.launch
-
- robot_ips
- robot_id [default: panda_dual]
- rviz [default: true]
- rqt [default: true]
- launch/cartesian_pose_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/elbow_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/model_example_controller.launch
-
- robot [default: panda] — choose your robot. Possible values: [panda, fr3]
- arm_id [default: $(arg robot)]
- launch/teleop_joint_pd_example_controller.launch
-
- leader_ip — left robot from user persepective standing in front of the robots for a robot setup according to $(find franka_description)/robots/dual_panda/dual_panda_example.urdf.xacro
- follower_ip — right robot from user persepective standing in front of the robots for a robot setup according to $(find franka_description)/robots/dual_panda/dual_panda_example.urdf.xacro
- robot_id [default: panda_teleop] — name of the 2-arm robot
- debug [default: false] — publish debug information and enable dynamic parameter tuning
- rviz [default: true] — open rviz on launch to show the virtual robot setup
- load_gripper [default: false] — start teleoperation for the grippers (full open/close is mirrored to follower)
- gripper_homed [default: false] — is the gripper already homed? If not the gripper will perform an initial homing motion
Messages
Services
No service files found