franka_interface

See induvidual source files for more detailed documentation.

ArmInterface

• Interface class that can monitor and control the robot
• Provides all required information about robot state and end-effector state
• Joint positions, velocities, and effort can be directly controlled and monitored using available methods
• Smooth interpolation of joint positions possible
• End-effector and Stiffness frames can be directly set (uses FrankaFramesInterface from franka_ros_interface/franka_tools)

GripperInterface

• Interface class to monitor and control gripper
• Gripper open, close methods
• Grasp, move joints methods

RobotEnable

• Interface class to reset robot when in recoverable error (use enable_robot.py script in scripts/)

RobotParams

• Collects and stores all useful information about the robot from the ROS parameter server

Scripts

• Scripts providing simple gripper actions, and robot reset are provided