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Panda Arm - Franka Emika

This repository contains the application code used to communicate with the Franka Emika arm from Drake.

Building the driver

Before you begin, install the prerequisite:

sudo apt install libgflags-dev

To build, run bazel build //.... This will output two versions of the driver: bazel-bin/franka-driver/franka_driver_v4 and bazel-bin/franka-driver/franka_driver_v5.

Use franka_driver_v5 for the FR-3 robots.

Running the driver

To run the driver in position mode, use the following command:

    bazel-bin/franka-driver/franka_driver_v5 --expire_sec=0.05 --robot_ip_address=<ip-addr> --control_mode=position

To run the driver in torque mode, use the following command:

bazel-bin/franka-driver/franka_driver_v5 --use_mbp --expire_sec=0.05 --robot_ip_address=<ip-addr> --control_mode=torque

To add a gripper, update the models/add_franka_control.yaml with the respective gripper.

Links

Notes

  • Be sure to read the manual, FCI docs, etc.
    • The FCI docs have excellent instructions for getting your network interface on Ubuntu set up.
  • There are two very distinct versions of Pandas: the FE3 (older) and FR3 (newer)
  • There are three version to think about: firmware on the robot (we use v4.x, and v5.x) and libfranka driver software on the host PC (0.8.0 for v4.x FE3, and 0.10.0 for v5.x FR3).

    • You should see suffixes like _v4 and _v5 for relevant libraries and binaries.

    • If you use the wrong driver, you should get an error like:

        terminate called after throwing an instance of 'franka::IncompatibleVersionException'
  what():  libfranka: Incompatible library version (server version: 4, library version: 5). Please check https://frankaemika.github.io for Panda system updates or use a different version of libfranka.