Basic utility applications to support projects using Franka Emika Robots (née Panda), focused mostly around teleoperation tasks. This is very much a work-in-progress.
- Create a directory in the source folder, e.g.,
mkdir build. - Change to the build directory,
cd build. - Run cmake on the source,
cmake ... - Run make to build the source,
make.
Publishes joint states and velocities from an arm.
Listens for updates from a publisher and attempts to apply the joint states to the connected arm.
Simulataneously publishes state whilst listening for and applying joint states.
Causes the gripper to grasp an object.
Causes the gripper to release any grasped object.
Common code for other components.
CapnProto is used for message serialisation/deserialisation during transmission and recording. See messages/robot-state.capnp for the message structure. Each message is 136 bytes.
See config.yml for the full configuration. The utilities above accept the name of a configuration file with the -c parameter.
- send
- host: IP address to send to
- port: Port to send to
- rate: Rate in Hz to attempt to send data at
- receive
- host: IP address to receive on (0.0.0.0 for all local addresses)
- port: Port to receive on
- multicast_host: Multicast host to receive on (optional)
- robot:
- host: Robot IP address
- autorecovery:
- enabled: Boolean, true to enable autorecovery
- wait_time_ms: Time in milliseconds to wait before auto recovering
These scripts were written quickly for the Embrace Angels contemporary deployment. A lot of values are hard-coded so some care will need to be taken when running them.
Takes a Cap'n'Proto encoded recording file and dumps it to CSV.
Takes a CSV file of joint positions (no header) and plays it back on an arm that is in subscriber mode.
Used for Embrace Angels, takes two recordings and plays them back, one on each arm.
Used for Embrace Angels, makes recordings from both arms. Command line arguments:
- -i / --iface: Network interface to listen on
- -a / --addr: Your IP address to listen on
- -m / -maddr: Multicast address to listen on
TODO: These values should be read from a configuration file, and in the case of interface name and IP address, automatically discovered.