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Mr.LfD - ROS 2

This is the ROS2 endpoint for Mr.LfD, which enables launching of ROS2 programs to control Franka in Gazebo or the real world.


Instructions

Dependencies

Before using this repository. please make sure you have setup the following dependencies:

Building

# Clone the repo to anywhere you like, the repo itself is a ROS2 workspace
git clone https://github.com/LOOP115/mrlfd_ros2

# Build
cd mrlfd_ros2
colcon build

Sourcing

Before using this package, remember to source it.

source install/setup.bash

You can also add a line to ~/.bashrc like this:

gedit ~/.bashrc
source ~/project/mrlfd_ros2/install/setup.bash

Usage

  • Make sure the ROS machine and the machine running the Unity application are on the same Wi-Fi network.
  • Get ROS machine's IP
hostname -I
  • Start ROS TCP Endpoint
ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=<ros_ip>
  • Start data recorder, remember to modify the recording details
ros2 run ctrl_utils data_recorder

Kinesthetic Teaching

  • First, launch nodes for visualizations
ros2 launch ctrl_bringup visual.launch.py
  • Then, launch the gravity compensation controller
ros2 launch franka_bringup gravity_compensation_example_controller.launch.py robot_ip:=<robot_ip>

Teleoperation

  • First, launch necessary nodes
ros2 launch ctrl_bringup all_nodes.launch.py
  • Then, launch the Franka
ros2 launch franka_moveit_config moveit.launch.py robot_ip:=<robot_ip>

License

This project is licensed under the Apache 2.0 License - see the LICENSE file for details.

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ROS2 endpoint for XRFranka

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  • Python 99.5%
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