search

platonics-delft / franka_impedance_controller

Franka control for Robothon Challenge 2023
3 stars 0 forks source link

ROS Package name doesn't follow convention, not getting built by catkin build #2

Open peterso opened 7 months ago

peterso commented 7 months ago

The package.xml and CMakeLists.txt files need to have the project field match the directory name.

Fix this by renaming "franka_smart_cartesian_impedance_control" to "franka_robothon_controllers" and then moving the folder to the franka_ros directory within a catkin workspace like catkin_ws.

franzesegiovanni commented 7 months ago

Dear Peter,

I worked on fixing this bug.

Now there is not extra folder and if you follow this instruction: roscd franka_ros git clone git@github.com:platonics-delft/franka_robothon_controllers.git roscd cd .. source /opt/ros//setup.bash catkin_make -DMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=~/libfranka/build

Or you can also do

catkin build -DMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=~/libfranka/build

it builds it correctly on my lapton. I also was able to run it in the simulation after doing this commands:

source devel/setup.bash

roscd franka_robothon_controllers

python3 setup_gazebo.py

roslaunch franka_gazebo panda.launch x:=-0.5 world:=$(rospack find franka_gazebo)/world/stone.sdf controller:=cartesian_variable_impedance_controller rviz:=true```

You need to run python3 setup_gazebo.py only once :)

I hope this works and you are able to run the controller