franka_visualization

This package contains publishers that connect to a robot and publish the robot and gripper joint states for visualization in RViz. To run this package launch:

roslaunch franka_visualization franka_visualization.launch robot_ip:=<fci-ip> \
  load_gripper:=<true|false> robot:=<panda|fr3>

This is purely for visualization - no commands are sent to the robot. It can be useful to check the connection to the robot.

Important

Only one instance of a franka::Robot can connect to the robot. This means, that for example the franka_joint_state_publisher cannot run in parallel to the franka_control_node. This also implies that you cannot execute the visualization example alongside a separate program running a controller.