search

justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
212 stars 61 forks source link

start the franka_example_controller #52

Closed phknestel closed 3 years ago

phknestel commented 3 years ago

this is more a question than an issue, how is it possible to launch the franka example controller from the franka fci documentation in this simulator? The example controllers are started with a robot_ip and use the franka_hw interfaces.

Here is the link for the example controllers: https://frankaemika.github.io/docs/franka_ros.html#franka-example-controllers

justagist commented 3 years ago

Hi, These examples are not directly supported in this simulator as it uses custom hardware interfaces that are different to those in franka_ros. This simulator is mainly intended to be used as a safe environment for testing franka_ros_interface codes in simulation before deploying on a real robot, by trying to mimic the feedback and dynamics of the physical robot. If you want to simulate the franka_ros examples, you may find this useful: https://github.com/justagist/panda_simulator/issues/25#issuecomment-814293067, using a different definition of the robot interface as a plugin in a simplified gazebo simulator.