franka_vision_and_manipulation_kit

Package Overview

This package containes launch files and URDF for the Franka Vision and Manipulation Kit.

• Robotiq Grippers - Robotiq 2F-5 Grippers

• Realsense Cameras - RealSense D405 Depth Cameras

• ZED Camera - ZED Mini Camera

The package handles sensor configuration, driver launching, and RViz visualization for the complete kit.

Prerequisites

The following repositories are needed for the Franka Vision and Manipulation Kit to work:

• https://github.com/PickNikRobotics/ros2_robotiq_gripper

• https://github.com/realsenseai/realsense-ros

• https://github.com/stereolabs/zed-ros2-wrapper

Currently, franka_ros2 does not provide a pre-built docker image or other environment where these prerequisites are already installed. Please build your own evironment with the help of above links. The ZED package needs CUDA Drivers and the ZED SDK.

Usage

Launch the kit with:

ros2 launch franka_vision_and_manipulation_kit franka_vision_and_manipulation_kit.launch.py \
  [start_robotiq_grippers:=true|false] \
  [start_realsense_cameras:=true|false] \
  [start_zed_camera:=true|false] \
  [start_rviz:=true|false] \
  [use_mobile_platform:=true|false] \
  [config_file_path:=<path to config file>]

Launch Arguments

• start_robotiq_grippers (default: true) - Start Robotiq grippers

• start_realsense_cameras (default: true) - Start RealSense camera drivers

• start_zed_camera (default: false) - Start ZED camera

• start_rviz (default: true) - Start RViz visualization

• use_mobile_platform (default: false) - Use mobile FR3 Duo instead of stationary FR3 Duo

• config_file_path (default: package://franka_vision_and_manipulation_kit/config/default_config.yaml) - config file with contains camera parameters etc.

Configuration

Example configuration YAML file:

head: #parameters for zed camera
  camera_model: zedm
  # more zed camera parameters, see https://www.stereolabs.com/docs/ros2/zed-node

left_arm:
  gripper:
    type: 2f_85 # by default the vision and manipulation kit uses 2-finger 85cm grippers
    com_port: "/dev/serial/by-id/usb-FTDI_USB_TO_RS-485_XXXXXXXX-if00-port0" # check the ids of the connected ddevices with `ls /dev/serial/by-id/ and change it accordingly`
  camera:
    serial_no: "_XXXXXXXXXXXX" # mind the leading underscore
    camera_namespace: left
    # ... more realsense camera parameters, see https://github.com/realsenseai/realsense-ros?tab=readme-ov-file#parameters
right_arm:
  gripper:
    type: 2f_85
    com_port: "/dev/serial/by-id/usb-FTDI_USB_TO_RS-485_YYYYYYYY-if00-port0"
  camera:
    serial_no: "_YYYYYYYYYYYY"
    camera_namespace: right