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Installation

Page on how to install the libraries setup the network to run the franka server on the mini desktop.

Glossary

  • Franka Control / Controller: Black Box on the table
  • Franka PC / Desktop: Franka PC on the ground
  • Franka Desk: Web app to control the robot
  • FR3-server: Set of ros2 nodes to publish the robot states and send position commands. Running on the Franka PC.

Network Setup

test
Network Setup

TODO: Steps to setup network, install FCI and the server.

Testing libfranka

Libfranka is the low level c++ api to send commands to the robot. Test that you are able to connect to the robot: 

cd ~/git/libfranka/build
./examples/echo_robot_state $FR3_IP

To check the realtime is working: 

# This moves the robot home
./examples/communication_test $FR3_IP

Other examples are available. You can take a look with 

ls examples