franka_hardware

Important

Breaking changes as of 0.1.14 release: franka_hardware robot_state and robot_model will be prefixed by the arm_id.

• panda/robot_model  -> ${arm_id}/robot_model

• panda/robot_state  -> ${arm_id}/robot_state

There is no change with the state and command interfaces naming. They are prefixed with the joint names in the URDF.

Package Overview

This package contains the franka_hardware plugin needed for ros2_control. The plugin is loaded from the URDF of the robot and passed to the controller manager via the robot description.

Hardware Interfaces

The hardware plugin provides for each joint:

• a position state interface that contains the measured joint position.

• a velocity state interface that contains the measured joint velocity.

• an effort state interface that contains the measured link-side joint torques.

• an initial_position state interface that contains the initial joint position of the robot.

• an effort command interface that contains the desired joint torques without gravity.

• a position command interface that contains the desired joint position.

• a velocity command interface that contains the desired joint velocity.

Additional State Interfaces

In addition to joint interfaces, the hardware plugin provides:

• a franka_robot_state that contains the robot state information, franka_robot_state.

• a franka_robot_model_interface that contains the pointer to the model object.

Important

franka_robot_state and franka_robot_model_interface state interfaces should not be used directly from hardware state interface. Rather, they should be utilized by the franka_semantic_components interface.

Configuration

The IP of the robot is read over a parameter from the URDF.

Usage with Controllers

Controllers can access these interfaces through the standard ros2_control framework. For examples of how to use these interfaces in practice, see the franka_example_controllers package.