franka_fr3_moveit_config

This package contains the configuration for MoveIt2.

Move Group

There is one move group called (arm_id)_arm, where (arm_id) is the arm type specified by the user. The TCP placement varies depending on the end-effector configuration. If the Franka Hand is set, the TCP is located in the center between the fingertips and the TCP-frame-axes are in parallel with the gripper frame. Otherwise, the TCP is located at the robot flange.

franka_ros2/docs/assets/move-groups.png

Visualization of the different TCP placements.

Usage

To see if everything works, you can try to run the MoveIt example on the robot:

ros2 launch franka_fr3_moveit_config moveit.launch.py robot_ip:=<fci-ip>

Then activate the MotionPlanning display in RViz.

If you do not have a robot you can still test your setup by running on a dummy hardware:

ros2 launch franka_fr3_moveit_config moveit.launch.py robot_ip:=dont-care use_fake_hardware:=true

Wait until you can see the green You can start planning now! message from MoveIt inside the terminal. Then turn off the PlanningScene and turn it on again. After that turn on the MotionPlanning.

You can use the arguments load_gripper to activate or deactivate the end-effector and ee_id to set which end-effector you want to use. By default, the Franka Hand is activated.

Configuration Files

This package includes:

  • Motion planning configuration for the FR3 robot

  • Joint limits and safety settings

  • Planning groups and link configurations

  • Kinematics solver configuration (kinematics.yaml)

For the Joint Impedance With IK Example controller, you can change the kinematic solver in this package’s kinematics.yaml file.