Franka Interface

This package is a middle-ware interface for the franka emika robot. The structure is borrowed from the franka_ros/franka_example_controllers package. The code is meant to be a stripped down version of the example controllers which takes in joint commands from another node. The commands are filtered to avoid any time-delay or chopping behavior from the franka root.

Launching the nodes

Launching the controller node and the robot state node is as easy as

roslaunch franka_interface joint_velocity_interface.launch

for the joint velocity interface. Running just the robot state publisher (for HRI purposes) can be done using

robot_state.launch 

This package makes use of the move to start interface of the original franka_example_controllers to move the robot using move_it package. This is accessible through

move_to_start.launch