Server and client nodes to control Emika Franka Panda Manipulator with ROS2.
git clone https://github.com/andrearosasco/panda-ros2.git
cd panda-ros2 && colcon build --merge-install --install-base ${CONDA_PREFIX}
The panda-server node depends on the python package panda-py
. You can install the version with the your desired combinations of python and libfranka from:
https://github.com/JeanElsner/panda-py
You can start the panda server node by running panda_server
.
You can find an example of a simple client here. You can execute it using the command panda_client
which will connect to the server and move the arm to a home position.
Warning
Check the PID controller parameters as they might not be adequate to your setup