With this library, you can control research versions of Franka Emika robots. See the Franka Control Interface (FCI) documentation for more information about what libfranka can do and how to set it up. The generated API documentation also gives an overview of its capabilities.
libfranka is licensed under the Apache 2.0 license.
This modified version of libfranka contains no change to most of the files in libfranka provided by the Franka Emika GmbH repo, see libfranka. This repo should only be used for research purposes. Modifications mostly seen in the examples folder.
- Uninstall existing installations.
sudo apt remove "*libfranka*"
- Install the following dependencies.
sudo apt install build-essential cmake git libpoco-dev libeigen3-dev
- Clone the source code.
git clone https://github.com/VinceGuan/Franka_Teleop.git
cd Franka_Teleop
- Use CMake.
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build .
In the examples directory in the build folder, you can execute the example applications. <fci-ip> is the local IP of the Franka robot, it is 172.16.0.2 is most cases. For example you can run:
./HD_Franka_Simple_Motion_Mirror <fci-ip>
Some of the examples will have to install other dependant packages.
-
OpenHaptics
-
SDL2
-
OpenGL