franka_msgs

This package contains the definitions for the different gripper actions and robot state message.

Message Types

This package provides ROS2 message, service, and action definitions specific to Franka robots:

Action Definitions:

• Gripper control actions (homing, move, grasp)

• Error recovery actions

Service Definitions:

• Robot parameter setting services

• Collision behavior configuration

• Stiffness and load configuration

Message Definitions:

• Robot state messages

• Gripper state and feedback messages

Usage

These message definitions are used throughout the franka_ros2 ecosystem:

• franka_gripper uses the gripper action definitions

• franka_robot_state_broadcaster publishes robot state messages

• franka_bringup uses service definitions for robot parameter setting

The message definitions ensure consistent communication interfaces across all Franka ROS2 packages.