Control interface built on top of franka_ros that allows to control the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly DS-based) motion planning and learning. This low-level control interface is used and developed by/for Prof. Nadia Figueroa and her collaborators and students. Initially developed at MIT in the Interactive Robotics Group continued development at the University of Pennsylvania.
Besides franka_ros and by consequence libfranka this package depends on several other code repositories that are robot-agnostic and useful for control and learning of motion policies from demonstrations.
To install this repo and all its dependencies do the following steps:
- In your catkin src directory clone the repository
$ git clone https://github.com/nbfigueroa/franka_interactive_controllers.git
- wstool gets all other git repository dependencies, after the following steps you should see extra catkin packages in your src directory.
$ wstool init
$ wstool merge franka_interactive_controllers/dependencies.rosinstall
$ wstool up
- Query and installs all libraries and packages
$ rosdep install --from-paths . --ignore-src --rosdistro <your-ros-distro>
- Install some additional python dependencies
$ sudo apt install python3-psutil python3-tkinter
- Finally complie
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ catkin_make
$ rospack profileYou might need to source the ./bashrc file and compile again if the first compliation could not find some of the in-house dependencies. If roscd doesn't find the compiled packages run rospack profile.