easy_panda_sim

A lightweight ROS package for simulation with Franka Panda Emika on Gazebo.

It has been tested on Ubuntu 18.04 with ROS Melodic.

Supported features

• ROS controllers:
  • State publishing (joint_state_controller)
  • Joint control (position_joint_trajectory_controller)
• Support for Franka gripper actions /franka_gripper/{homing, move, grasp}
  • grasp and move support the parameters width and speed
• Support for RGB-D vision (e.g. simulated RealSense)
• Support for hsp-panda/panda_grasp_server

Missing features

• Support for parameters force , epsilon.{inner, outer} in action /franka_gripper/grasp
• Cartesian space control using ROS controllers
• Python, C++ basic examples

How to install

We assume that you have a working ROS workspace <catkin_ws>

cd <catkin_ws>/src
git clone https://github.com/hsp-panda/easy_panda_sim
cd <catkin_ws>
catkin build
source <catkin_ws>/devel/setup.bash

How to run

roslaunch easy_panda_sim simulation.launch [enable_rgbd_camera:=true]

When enable_rgbd_camera is set to true the following topics are available (among the others):

/camera/color/camera_info (camera parameters)
/camera/color/image_raw (RGB)
/camera/depth/image_raw (depth)
/camera/depth/color/points (point cloud)

Test joint space control via GUI

We assume that you have installed ros-melodic-rqt-joint-trajectory-controller via apt

roslaunch easy_panda_sim simulation.launch
rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller --force-discover

Maintainers

This repository is maintained by:

	@xenvre