franka_spine

ROS 2 action/service server for the Franka Spine REST API.

Launch

ros2 launch franka_spine_server spine.launch.py spine_ip:=172.16.16.10

With a namespace:

ros2 launch franka_spine_server spine.launch.py spine_ip:=172.16.16.10 namespace:=my_robot

Topics

Subscribe to these for a continuous position or state stream. Do not call the services in a loop to get the same thing: the spine REST API is served by a single upstream behind nginx, and overlapping requests wedge it until the TMR is rebooted.

Both topics are published at feedback_rate (default 10 Hz) and only while someone is subscribed, so an idle node leaves the device alone. The valid field is false when the last read of the device failed; position then holds the last known value.

ros2 topic echo /franka_spine_node/position
ros2 topic echo /franka_spine_node/state

Services

The node reads position and state from the device at most feedback_rate times per second in total, and serves everything else from that sample, so these services stay safe to call from several clients at once. A service call can therefore return a value up to one period old.

Get spine state

ros2 service call /franka_spine_node/get_state franka_spine_msgs/srv/GetSpineState

Get position

ros2 service call /franka_spine_node/get_position franka_spine_msgs/srv/GetPosition

Switch on

ros2 service call /franka_spine_node/switch_on franka_spine_msgs/srv/SwitchOn

Switch off

ros2 service call /franka_spine_node/switch_off franka_spine_msgs/srv/SwitchOff

Fault reset

ros2 service call /franka_spine_node/fault_reset franka_spine_msgs/srv/FaultReset

Halt motion

ros2 service call /franka_spine_node/halt franka_spine_msgs/srv/Halt

Get parameters

ros2 service call /franka_spine_node/get_parameters_spine franka_spine_msgs/srv/GetParameters

Action

Move to absolute position

Send a goal:

ros2 action send_goal /franka_spine_node/move_absolute franka_spine_msgs/action/MoveAbsolute \
  "{position: 0.4, velocity: 0.1, acceleration: 0.2, deceleration: 0.2}" --feedback

Python Client Example

See the franka_spine_examples package for a runnable Python client:

ros2 run franka_spine_examples spine_client_example.py