doterkuile/franka_panda_description

Franka Panda robot description, modified for providing gazebo simulation. Also includes more accurate dynamics values for KDL dynamics parameter estimations.

franka_panda_desctiption

Robot description package modified from franka_ros package to include dynamics parameters for the robot arm (as estimated in this paper). Also includes transmission and control definitions required for Gazebo support (see panda_simulator package).

Related Packages

• panda_simulator : Simulation in Gazebo with exposed controllers and state feedback using ROS topics and services. The simulated robot uses the same ROS topics and services as the real robot when using the franka_ros_interface.
• franka_ros_interface : A ROS API for controlling and managing the Franka Emika Panda robot (real and simulated). Contains controllers for the robot (joint position, velocity, torque), interfaces for the gripper, controller manager, coordinate frames interface, etc.. Provides almost complete sim-to-real transfer of code.
• panda_robot : Python interface providing higher-level control of the robot integrated with its gripper, controller manager, coordinate frames manager, etc. It also provides access to the kinematics and dynamics of the robot using the KDL library.