Real panda control examples

This repository contains several examples for controlling the real panda robot. It was created as a supplement to the official panda documentation. Further it serves as a storage place for several problems I encountered while working with the panda robot (see the discussions section).

Clone instructions

To clone the repository use the following command:

mkdir real_catkin_ws
cd real_catkin_ws
git clone --recurse-submodules https://github.com/rickstaa/real_panda_control_examples.git src

Build instructions

Install the ROS package dependencies using the following command:

rosdep install --from-paths src --ignore-src --rosdistro melodic -y

The catkin package can be build by executing one of the following commands:

catkin build -j4 -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=~/libfranka/build

Franka ros examples

Please see this discussion post that explains how to run the example launch files provided by Emika Franka.

Moveit example launch instructions

To test out Moveit control, after you build and sourced the catkin workspace, you can launch the example included in the panda_moveit_config using the following command:

roslaunch panda_moveit_config panda_control_moveit_rviz.launch load_gripper:=true robot_ip:=172.16.0.2

Additionally the real_panda_control_examples contains a slightly modified version of this example:

roslaunch real_panda_control_examples real_panda_moveit_control.launch

Trajectory control example launch instructions

To test out Trajectory control, after you build and sourced the catkin workspace, you can launch the example included in the panda_moveit_config using the following command:

roslaunch panda_moveit_config panda_control_moveit_rviz.launch load_gripper:=true robot_ip:=172.16.0.2

Additionally the real_panda_control_examples contains a slightly modified version of this example:

roslaunch real_panda_control_examples real_panda_traj_control.launch

Contributing

Feel free to open an issue if you have ideas on how to make this GitHub action better or if you want to report a bug! All contributions are welcome. 🚀 Please consult the contribution guidelines for more information.