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Getting Started

This guide will help you get up and running with the project and basic functionalities of the Franka Arm. It assumes the server is already installed on the mini PC. If it's not the case follow the server installation instructions.

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.

General Info

Model: Franka Research 3

IPs

  • Controller IP: 10.69.54.223
  • Franka Desktop: 10.69.54.222

ROS2

  • ROS2 Version: humble
  • Domain: 01

Useful Resources

1. Connect to the Franka PC (server)

  1. Connect your host to the switch via the Ethernet cable

  2. Set your network configuration

    1. IP: 192.168.1.3, Net Mask: 255.255.255.0

    2. Test the connection 

      ping 192.168.1.2 # Ping the Franka PC
      network_image
      Network Setup

  3. Configure the ssh connection to the Franka PC

    1. Test that ssh works 

      ssh csirois@192.168.1.2
# pwd: FrankaPC2024

    2. Add ssh to your configs

      • In ~/.ssh/config add the following configuration

        Host franka-pc
    HostName 192.168.1.2
    User csirois
    IdentityFile ~/.ssh/id_ed25519  # (1)!
    ProxyJump cim-jump
    ForwardX11 yes
    ForwardX11Trusted yes
    LocalForward 8443 10.69.54.223:443 # (2)!
        1. To log without the password. See comment below.
        2. To forward desk to local port

      • You can now connect to the Franka PC with: 

        ssh franka-pc

    SSH without the password

    TODO...

2. Start the Robot

  1. Power on the Franka Controller

  2. Open Franka Desk

    • You have two options: on the Franka PC or via SSH (recommended)

    • On the Franka PC

      • Open a session using the monitor connected to the PC
        • User: csirois, pwd: FrankaPC2024
      • In a browser, go to 10.69.54.223

    • Using SSH on your laptop

  3. Unlock the joints

  4. Activate FCI

3. Test the robot

See Franka Server User Guide for a comprehensive guides on the Franka Server functionalities.

  1. TODO: Add test script
# On the server
fr3-launch

Save the motors

Make sure to lock the joints when you don't plan to use the robot for a few minutes. It prevents the motors from overheating.

4. Setup the client

The ADL ROS2 packages provide various way for controlling the FR3. The easiest is to use the arm_client, a python wrapper around the ROS2 server.

Follow the steps to install the project:

  1. On your host, clone the project 

    git clone https://github.com/McGill-Applied-Dynamics-Lab/adl-ros2.git

  2. Install the environment 

    cd adl-ros2
pixi install # (1)!
pixi run setup-colcon

    1. See the note below for pixi installation

  3. Build the ROS2 packages 

    pixi shell -e humble # (1)!
pixi run -e humble build

    1. To start a shell in the pixi environment

    ROS2 Workspace

    This build the ros2 packages to install_humble and build_humble

  4. Verify the installation 

    pixi run -e humble test-install

Pixi

Pixi is a fast package management tool. To install, follow the installation instructions.

5. Control the robot!

  1. Start the server 

    # On the Franka PC
fr3-launch

  2. Run an example 

    # On your workstation
pixi run -e humble python examples/00_home.py

If you wish to to run scripts from Visual Studio Code, look at VS Code Setup Instructions.

Explore the other examples to discover various ways of controlling the robots.

Next Steps