franka_fr3_moveit_config

This package contains the configuration for MoveIt2.

Move Groups

There is a new move group called panda_manipulator that has its tip between the fingers of the gripper and has its Z-axis rotated by -45 degrees, so that the X-axis is now facing forward, making it easier to use. The panda_arm move group is still available for backward compatibility. New applications should use the new panda_manipulator move group instead.

../../../_images/move-groups.png

Visualization of the old and the new move group

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.

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.