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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

use franka_ros_interface with two panda arm simultaneously #35

Open ChenEating716 opened 3 years ago

ChenEating716 commented 3 years ago

Hi @justagist, thanks for the great library!

I'm currently working on the dual panda(two panda arms located on the same desk).

And I don't know the proper way to control the dual panda arm at the same time(cause right now we don't have any special controller for the dual panda, I guess I can only treat them as two single robots).

Can I just launch two franka.sh with different robot_ip in different terminals?

Or is there another suitable way to control dual panda simultaneous?

Looking forward to your advice!

justagist commented 3 years ago

Hi @ChenEating716, Glad to hear you like the library! Unfortunately, I never got to try a dual panda setup, and the package is written with a single arm in mind. I think launching two separate franka.sh environments should allow you to control the robots separately, but you will not be able to control both from the same session/code, which is probably what you want to do. This is not something the package is capable of at the moment, but it would be a useful feature to have. If you manage to find a good way to integrate dual-arm setup into this library, it would be great if you can contribute.

ChenEating716 commented 3 years ago

Hi @justagist , thanks for the quick reply!

I will try my best!

Hopeful I can find a good way to implement dual-arm control and of cause, It's my pleasure to contribute at that time

aodongdong commented 1 year ago

Hi @justagist , thanks for the quick reply!

I will try my best!

Hopeful I can find a good way to implement dual-arm control and of cause, It's my pleasure to contribute at that time

Hello, i'm also seeking for a good way to control the dual panda arms. Did you find any methods other than using the dual_arm_impendance_controller in franka_ros?