The code for controlling the real Panda using either libfranka or franka_ros is now available at https://github.com/cpezzato/active_inference
Repository for the dynamic simulation of the Franka Emika Panda robot arm in Gazebo using Active Inference. This repository contains 3 packages:
- franka_description: it contains the urdf and xacro of the robot and the scene
- panda_control: the package contains the active inference controller and a model reference adaptive controller for comparison
- panda_simulation: package for launching the simulation loading a jointEffortController for each joint and the scene with the robot(s)
The packages franka_description and panda_simulation are a modified versions of the following:
- official franka_ros: https://github.com/frankaemika/franka_ros
- panda_simulation: https://github.com/erdalpekel/panda_simulation
Note that the panda_simulation package has been modified to allow to spawn multiple robots with different namespaces. Furthermore the panda_arm.xacro contains now a model of the robot with approximated dynamics. The file panda_arm.xacro has been updated with more accurate inertia tensor and centers of mass obtained using Meshlab and the .stl models.
Make sure you installed ros-kinetic-desktop-full and that you have all the necessary dependencies. You can do that building a singularity image from this singulatity recipe:
https://github.com/cpezzato/panda-xenial-docker/blob/master/panda-recipe-minimal-xenial
Run a shell within the container:
- With Nvidia GPU:
$ singularity shell --nv YOUR_IMAGE_NAME - Without Nvidia GPU:
$ singularity shell YOUR_IMAGE_NAME
Once inside the image:
- Source:
$ source /opt/ros/kinetic/setup.bash - Create a folder for your catkin_ws:
$ mkdir -p your_catkin_ws/ - Move to the folder: $ cd your_catkin_ws/`
- Clone the repository
$ git clone https://github.com/cpezzato/panda_simulation.git src - Build the workspace:
$ catkin_make - Source:
$ source devel/setup.bash - Launch:
$ roslaunch panda_simulation simulation_single.launch
The launch file launches a Gazebo simulation in pause with a single robot. You can then run the node panda_control_AIC_single for the active inference controller (AIC) and play the simulation to see the robot moving to the set-point. Alternatively one can run the model reference adaptive controller (MRAC) through the node panda_control_MRAC.
$ rosrun panda_control panda_control_AIC_single- Then play in the Gazebo GUI
The result with the active inference controller is the following:
