Armer Panda

To be used with the Armer Driver

This package launches the drivers of the Franka Panda for use with the Armer Driver.

It interfaces with the Franka drivers so they must be installed as well.

To enable the Panda's extra functionality, the Armer Driver ROSRobot class has been extended by PandaROSRobot.py.

Installation

Preinstallation step: Install Franka drivers

1. Install Franka drivers for Noetic from apt

sudo apt install ros-noetic-franka-ros

Armer Panda installation

1. Clone this repository into the armer_ws/src folder.

cd ~/armer_ws

git clone https://github.com/qcr/armer_panda.git src/armer_panda

3. Install the required dependencies.

rosdep install --from-paths src --ignore-src -r -y 

4. Build the packages.

catkin_make 

Usage

roslaunch armer_panda robot_bringup.launch 

By default this will launch to control a physical Panda arm. To run a Swift simulation the sim parameter can be set to true. For example:

roslaunch armer_ur robot_bringup.launch sim:=true