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justagist / franka_ros_interface

A ROS/Python API for controlling and managing the Franka Emika Panda robot (real and simulated).
http://justagist.github.io/franka_ros_interface
Apache License 2.0
169 stars 59 forks source link

Fixups for noetic and python3 #30

Closed lucbettaieb closed 3 years ago

lucbettaieb commented 3 years ago

Fixups for compatibility with ROS Noetic + python3

Companion PR for panda_simulator https://github.com/justagist/panda_simulator/pull/43

justagist commented 3 years ago

Thank you for the PR! Has this been tested with the real robot? Also, did you have to make any non-obvious changes to the set up for getting this library and its dependencies working in ROS Noetic?

I won't be able to review this PR immediately as I am busy for at least a couple of weeks, and also I do not have a ROS Noetic environment set up with a real-time kernel Ubuntu 20.04 for testing this on the real robot. But I will get to this as soon as I can! Thanks again!

lucbettaieb commented 3 years ago

@justagist No problem!

Has this been tested with the real robot?

No, but the changeset is really just syntax, so it should not affect hardware operations. I may have an opportunity soon to give it a shot, but I need to prioritize my own work on the hardware first.

Also, did you have to make any non-obvious changes to the set up for getting this library and its dependencies working in ROS Noetic?

Don't think so... Oh- actually, one thing I needed to do was set my PYTHONPATH to: export PYTHONPATH=$PYTHONPATH:/usr/lib/python3.7/dist-packages but I'm not 100% sure that was needed for this. I think there was some weirdness when installing pip deps. Yesterday was a bit of a blur in that department... :sweat_smile: It may be worth firing this up in a container to see how it works in a clean env - but the PR is really just small syntax changes, so it shouldn't be a huge deal.

No worries regarding the timeliness of checking this out / testing. If I get a chance to try out your interface on hardware I'll loop you in, too.

I'm not 100% sure if this is backwards compatible with python2 etc, so perhaps it would be good to try out the sim in your non-noetic environment.

Regarding real-time, none of the changes I made should affect any kind of control loops so I think you're good on that.