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rail-berkeley / serl_franka_controllers

Cartesian impedance controller with reference limiting for Franka Emika Robot
MIT License
88 stars 13 forks source link

Incompatible with franka_ros>0.9.1 #5

Closed kamiradi closed 5 months ago

kamiradi commented 7 months ago

Hi,

Thanks a lot for open-sourcing this repository, great work.

This is not an issue but more of an observation. I have tested your installation manually against later versions of franka_ros 0.10, 0.10.1 etc.(dockerized mostly). It seems that your code base is incompatible with any franka_ros versions greater than 0.9.1. This is primarily because the folder structure (and urdf tags) of the franka_description has changed after the version, breaking your franka_control.launch file (there is an explicit path towards the panda_arm.urdf).

So you may want to change your readme to instruct users to use any franka_ros between 0.8 and 0.9.1, and the corresponding libfranka.

Thank you for your work.

charlesxu0124 commented 5 months ago

Hello,

Thanks for raising this issue and sorry for the confusion. I believe you have tried to install a version of this package that was later rolled back. If you re-install this repo, it should work with franka_ros>=0.8.0 now.

For context, the version that didn't work made a copy of franka_control.launch into this repo to point to a custom config file that ignores the realtime kernel constraint. I've realized the issues with this approached and discarded this update. Now, if you want to run this controller package on a non-realtime kernel (when you are using CUDA on the same machine), please follow the updated README to manually edit the configuration in franka_control.