franka-interface | C++ Library for Interfacing with Libfranka and Frankapy

by iamlab-cmu C++ Version: Current License: MIT

X-Ray Key Features Code Snippets Community Discussions Vulnerabilities Install Support

kandi X-RAY | franka-interface Summary

franka-interface is a C++ library. franka-interface has no bugs, it has no vulnerabilities, it has a Permissive License and it has low support. You can download it from GitHub.

C++ Library for Interfacing with Libfranka and Frankapy

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Quality

Security

License

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Support

franka-interface has a low active ecosystem.

It has 33 star(s) with 6 fork(s). There are 8 watchers for this library.

It had no major release in the last 6 months.

There are 5 open issues and 3 have been closed. On average issues are closed in 145 days. There are no pull requests.

It has a neutral sentiment in the developer community.

The latest version of franka-interface is current.

Quality

franka-interface has no bugs reported.

Security

franka-interface has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.

License

franka-interface is licensed under the MIT License. This license is Permissive.

Permissive licenses have the least restrictions, and you can use them in most projects.

Reuse

franka-interface releases are not available. You will need to build from source code and install.

Installation instructions, examples and code snippets are available.

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franka-interface Key Features

No Key Features are available at this moment for franka-interface.

franka-interface Examples and Code Snippets

No Code Snippets are available at this moment for franka-interface.

Community Discussions

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Vulnerabilities

No vulnerabilities reported

Install franka-interface

This library is intended to be installed on the computer that interfaces with the Franka (we call this the Control PC). To use this library, refer to FrankaPy, which can be run on any computer on the same ROS network and sends commands to franka-interface.
The Control PC should have an OS with real time kernel. The instructions for setting up a computer with the 18.04 Realtime Kernel from scratch are located here: control pc ubuntu setup guide
Instructions for setting up the computer specifically for Franka Robots is located here: franka control pc setup guide
We use both C++ and Python versions of protobufs so you would need to install Protobufs from source.
Clone Repo and its Submodules:. All directories below are given relative to /franka-interface.
Clone Repo and its Submodules: git clone --recurse-submodules https://github.com/iamlab-cmu/franka-interface.git cd franka-interface
Clone LibFranka corresponding to your robot version. For example if your firmware is 3.x use the following command: bash ./bash_scripts/clone_libfranka.sh 3 If you are using the Franka Research 3 use the following command: bash ./bash_scripts/clone_libfranka.sh 6
Build LibFranka bash ./bash_scripts/make_libfranka.sh
Build franka-interface bash ./bash_scripts/make_franka_interface.sh Once it has finished building, you should see an application named franka_interface in the build folder.
Build ROS Node franka_ros_interface Make sure that you have installed ROS Kinetic / Melodic already and have added the source /opt/ros/kinetic/setup.bash or source /opt/ros/melodic/setup.bash into your ~/.bashrc file. Make sure you have also installed catkin-tools either globally or in a virtual environment using the command pip install catkin-tools. bash ./bash_scripts/make_catkin.sh
To allow asynchronous gripper commands, we use the franka_ros package, so install libfranka and franka_ros using the following command (Change melodic to kinetic if you are on Ubuntu 16.04: sudo apt install ros-melodic-libfranka ros-melodic-franka-ros

Support

For any new features, suggestions and bugs create an issue on GitHub. If you have any questions check and ask questions on community page Stack Overflow .

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