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ROS Noetic
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MoveIt! ->
sudo apt install ros-noetic-moveit
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libfranka + franka_ros ->
sudo apt install ros-noetic-libfranka ros-noetic-franka-ros
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Clone this repository
git clone https://github.com/KPAaM/MIS-Robot.git
or
git clone [email protected]:KPAaM/MIS-Robot.git
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Build your workspace ->
catkin_make
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Set IP address on your slave PC
192.16.0.2
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Set these two commands in
~/.bashrc
on your slave PC:export ROS_MASTER_URI=http://192.16.0.1:11311
export ROS_IP=192.16.0.2
ssh -X [email protected]
After logging into the master PC you need to release the robot's brakes and allow FCI. By writting firefox
into terminal,
you will automatically enter Franka DESK
where you can do these steps.
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Launch Franka cartesian_velocity_controller and force_controller on master PC:
roslaunch franka_mis_controllers franka_mis_controllers.launch
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Launch joystick node (joystick driver + joystick_EEF_controller) on slave PC:
roslaunch franka_joystick_control joystick_control.launch
/joystick_feedback
-> Raw data from joystick. For more info check /franka_joystick_control/src/joystick_pub.cpp
/joystick_cartesian_goal
-> Commands for Franka representing cartesian velocities