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

Services

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