franka_mobile

Package Overview

This package contains the controllers needed for franka tmr swerve drive robot, both in simulation and on real hardware.

Controllers

The package provides:

  • franka_mobile/swerve_drive_controller: this is the main drive controller for the tmr. Its main features are:

    • subscribes to geometry_msgs::msg::TwistStamped messages on ~/cmd_vel

    • publishes to /tf the odometry transformation between world and base_link. Frame names are configurable

    • publishes to ~/odom the nav_msgs::msg::Odometry containing the twist coming from the robot’s master controller or simulation.

    • writes to a loaned franka_semantic_components::CartesianVelocity command interface to send the desired twist to the robot (either real or simulated).

    • Both state and reference interfaces are configurable with prefixes for chaining purposes.

  • franka_mobile/swerve_ik_controller: this controller is needed for simulation purposes, e.g. with gazebo. Its main features are:

    • Reads/writes from/to joint/position and joint/velocity state/command interface exposes by gz_ros2_control plugins.

    • Performs the forward/inverse kinematics computation needed to replicated the master controller’s behaviour.

    • Exports a franka_semantic_components::CartesianVelocityInterface as reference interface.

    • Exports a franka_semantic_components::CartesianPoseInterface as state interface.

    • Both state and reference interfaces are configurable with prefixes for chaining purposes.

Both these controllers are derived from controller_interface::ChainableControllerInterface and can be composed with other controllers that adhere to the same state/reference interfaces exposed. Please look the the ros2 control documentation for more informations about chaining controllers.

Configuration

Please look into the config/swerve_drive_controller_parameters.yaml for available overrides in your yaml files.

Battery service

ROS 2 interface for the Franka TMR Battery REST API (https://<robot_ip>/battery/api), using only standard message types.

Launch

ros2 launch franka_mobile battery.launch.py robot_ip:=172.16.0.1

Topic

By default the node publishes sensor_msgs/BatteryState on /franka_battery_node/battery_state at 1 Hz (parameters enable_battery_topic and publish_rate).

Services

Wireless charging control uses std_srvs/Trigger:

ros2 service call /franka_battery_node/stop_wireless_charging std_srvs/srv/Trigger
ros2 service call /franka_battery_node/try_start_wireless_charging std_srvs/srv/Trigger