Franka Human Friendly Controllers

For more info: https://frankaemika.github.io/docs/installation_linux.html

Open a terminal pressing ctrl+alt+t

-In case you already have some versions of libfranka installed, remove them to avoid conflicts with:

sudo apt remove "*libfranka*"
sudo apt autoremove

Type the following commands to generate and build libfranka

cd
sudo apt install build-essential cmake git libpoco-dev libeigen3-dev
git clone --recursive https://github.com/frankaemika/libfranka
cd libfranka
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build .

This last comand may take several minutes.

Now create a workspace (here called catkin_ws) and install franka_ros in it

cd
mkdir -p catkin_ws/src
cd catkin_ws
source /opt/ros/<ros-distro>/setup.sh
catkin_init_workspace src
git clone --recursive https://github.com/frankaemika/franka_ros src/franka_ros
rosdep install --from-paths src --ignore-src --rosdistro <ros-distro> -y --skip-keys libfranka
source devel/setup.sh

Finally, install the controllers inside the folder "franka_ros" and build the code:

cd src/franka_ros
git clone https://github.com/franzesegiovanni/franka_human_friendly_controllers.git
cd ../..
source /opt/ros/<ros-distro>/setup.bash
catkin_make -DMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=~/libfranka/build

To run the controller:

Switch on your Panda robot (make sure the gripper is initialized correctly), unlock its joints (and activate the FCI if necessary).
Open a terminal, in every terminal: source devel/setup.bash
roslaunch franka_human_friendly_controllers cartesian_variable_impedance_controller.launch robot_ip:=ROBOT_IP load_gripper:=True
In a different terminal (don't forget to source again): rosrun franka_human_friendly_controllers franka_gripper_online

Run this in gazebo simulation

in franka_gazebo/CMakeList.txt in catkin_package(...) add franka_human_friendly_controllers

in franka_gazebo/CMakeList.txt in find_package(..) add franka_human_friendly_controllers

in franka_gazebo/package.xml add <depend>franka_human_friendly_controllers</depend>

in franka_gazebo/config/sim_controllers.yaml add

 cartesian_variable_impedance_controller:
  type: franka_human_friendly_controllers/CartesianVariableImpedanceController 
  arm_id: $(arg arm_id)
  joint_names:
    - $(arg arm_id)_joint1
    - $(arg arm_id)_joint2
    - $(arg arm_id)_joint3
    - $(arg arm_id)_joint4
    - $(arg arm_id)_joint5
    - $(arg arm_id)_joint6
    - $(arg arm_id)_joint7

To lunch the cartesian impedance controller in simulation:

roslaunch franka_gazebo panda.launch x:=-0.5 world:=$(rospack find franka_gazebo)/world/stone.sdf controller:=cartesian_variable_impedance_controller rviz:=true

Disagreement-aware Variable Impedance controller (DAVI)

To run the demo of teaching the robot where and how to place a paper cup:

Open a new terminal in src/franka_human_friendly_controllers/python/DAVI
Run the main file: python3 main.py

The robot will move to make the gripper face down, and then switch to gravity compensation. The robot can now be moved to the desired initial end-effector position. Upon pressing enter, the model is further initialized and the Episodes can be started and quit via the keyboard.

Watch our demo here: https://youtu.be/toIUuFguFgM

saikishor / franka_human_friendly_controllers

Franka Human Friendly Controllers

Run this in gazebo simulation

Disagreement-aware Variable Impedance controller (DAVI)

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