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icra18-fci-tutorial

This repository provides exemplary code to run a sequence of actions with Panda using franka_ros (e.g. set the robot's collision behavior, reach a Cartesian pose with MoveIt!, run a custom controller, open the gripper, ...). It also provides code for a simple Cartesian impedance controller that wiggles around a specific pose while performing force control. This code was shown during the Panda tutorial at ICRA 2018 in Brisbane, Australia to plug-in PC connectors in a docking station.

Quickstart

Requires libfranka >= 0.5.0, franka_ros >= 0.6.0.

To configure:

  1. Set all used controllers in the launch/demo.launch rosparam "controllers".
  2. Add the subtasks you want to perform in the launch/demo.launch rosparam "demos".
  3. Each of the subtasks are described in a YAML file config/my_step.yaml as a sequence of steps. The scripts/demo.py script will process them. It supports 6 possible steps:
    • moveit_cart: go to a specific Cartesian pose using MoveIt!.
    • moveit_joint: go to a specific joint configuration using MoveIt!.
    • gripper_move: move the gripper to a specific gripper width with the franka::Gripper::move command.
    • gripper_grasp: grasp an object with the franka::Gripper::grasp command.
    • run_controller: run a custom controller. In the provided examples it will be the included plug_in_controller.
    • set_collision_behavior: set the collision behavior for the robot.

To execute:

roslaunch icra18 demo.launch robot_ip:=<robot-ip>

You can also test just the plug_in controller an explore different configurations with rqt_reconfigure by running

roslaunch icra18 plug_in_controller.launch robot_ip:=<robot-ip>

To get specific parameters for your custom moveit_cart, gripper_move or gripper_grasp steps you might find useful running the teaching launch file, which constantly prints the robot pose and the gripper width, by executing

roslaunch icra18 teaching.launch robot_ip:=<robot-ip>