85 lines
4.0 KiB
Markdown
85 lines
4.0 KiB
Markdown
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# sas_robot_driver_franka
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Robot driver for the Franka Research 3 Robot.
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## Original Contributors
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- [Juan José Quiroz Omaña](https://github.com/juanjqo/sas_robot_driver_franka)
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## dependencies
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SAS:
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- sas_common
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- sas_core
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- sas_msgs
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- sas_conversions
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- sas_robot_driver
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- [sas_robot_driver_franka_interfaces](https://www.github.com/qlin960618/sas_robot_driver_franka_interfaces)
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Misc:
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- geometry_msgs
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- std_msgs
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- std_srvs
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- tf2_ros
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- tf2
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Franka Related
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- Franka (libfranka)
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- pinocchio
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## Components
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### sas_robot_driver_franka
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Kernel-space real-time robot driver for the SmartArm compatible control
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#### node parameters:
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```yaml
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"robot_ip_address": "172.16.0.x" # robot ip address
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"thread_sampling_time_sec": 0.004 # control sampling time (1.0/loop_rate)
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"q_min": [-2.3093, -1.5133, -2.4937, -2.7478, -2.4800, 0.8521, -2.6895] # joint limit minimum, if not define will obtain from [ROBOT_JSON]
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"q_max": [2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895] # joint limit maximum, if not define will obtain from [ROBOT_JSON]
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"force_upper_limits_scaling_factor": 4.0 # force and torque error limit scaling factor from default, (if any of the below is not defined)
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"upper_torque_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 40.0] # joint torque safety threshold, [j1, j2, ..., j7]
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"upper_force_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0] # end-effector frame safety force threshold [x, y, z, rx, ry, rz]
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"robot_mode": "VelocityControl" # control mode [VelocityControl/PositionControl]: currently PositionControl can be unstable
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"robot_parameter_file_path": os.environ["ROBOT_3_JSON_PATH"] # Robot definition JSON path
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```
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### sas_robot_driver_franka_hand
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Franka Hand driver for basic control of gripping functionality.
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#### special dependencies
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- sas_robot_driver_franka_interfaces
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- <sas_robot_driver_franka_interfaces/srv/grasp.hpp>
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- <sas_robot_driver_franka_interfaces/srv/move.hpp>
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- <sas_robot_driver_franka_interfaces/msg/gripper_state.hpp>
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#### node parameters:
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```yaml
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"robot_ip_address": "172.16.0.x" # robot ip address
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"thread_sampling_time_sec": 0.02 # control sampling time, (1.0/status update rate)
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"default_force": 2.0 # default gripping force (overridable from service call)
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"default_speed": 0.07 # default gripping speed (overridable from service call)
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"default_epsilon_inner": 0.007 # default grip call position epsilon (overridable from service call)
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"default_epsilon_outer": 0.007 # default grip call position epsilon (overridable from service call)
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```
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### sas_robot_driver_coppelia_node
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Digital twin mirroring node for driver node to CoppeliaSim
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#### node parameters:
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```yaml
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"thread_sampling_time_sec": 0.008 # control sampling time (1.0/loop_rate)
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"vrep_ip": os.environ["VREP_IP"] # ip of the vrep computer
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"vrep_port": 20012 # vrep port
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"vrep_dynamically_enabled": True # if vrep scene is dynamically enabled
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"using_real_robot": True # if node should read-only from real robot driver, False for simulation mode
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"vrep_joint_names": ["Franka_joint1#1", "Franka_joint2#1", "Franka_joint3#1", "Franka_joint4#1",
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"Franka_joint5#1", "Franka_joint6#1", "Franka_joint7#1"] # coppelia scene joint names
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"robot_topic_prefix": "/arm3" # robot driver namespace
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"robot_mode": "PositionControl" # only use when in simulation node, aka using_real_robot==False, for simulating velocity control mode. (TODO: currently VelocityControl is not stable)
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"robot_parameter_file_path": os.environ["ROBOT_3_JSON_PATH"] # Robot definition JSON path
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```
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