- Hardware Setting
- NVIDIA-Drivers (if you need cuda, you must first install NVIDIA-Drivers specific version
NVIDIA-Linux-x86_64-535.183.01.run) - real-time kernal
Before you using
Franka FCI, youMUSTset upreal-time kernalfirst, becausereal-time kernalwill make sure that the rate of control reaches 1kHz without delay. see more details inreal-time kernal.md
- libfranka.md (current markdown)
- franka-interface
- frankapy
https://github.com/frankaemika/libfranka/blob/main/README.md https://frankaemika.github.io/docs/libfranka.html
https://frankaemika.github.io/libfranka/0.15.0/
according to our Robot/Gripper Server is 9, so here we use 0.15.0 version,
ubuntu20.04(noetic), franka_ros(0.10.0), libfranka (0.15.0)
conda create -n franka python=3.8
conda activate franka
set franka conda environment as default
- zsh
sudo vim ~/.zshrc
- bash
sudo vim ~/.bashrc
add the command
conda activate franka
then source the environment
- zsh
source ~/.zshrc
- bash
source ~/.bashrc
pip install numpy scipy
sudo apt-get update
sudo apt-get install -y build-essential cmake git libpoco-dev libeigen3-dev libfmt-dev
To use libfranka version 0.14.0 or later, you will need to install pinocchio and some more dependencies:
sudo apt-get install -y lsb-release curl
sudo mkdir -p /etc/apt/keyrings
curl -fsSL http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | sudo tee /etc/apt/keyrings/robotpkg.asc
output
正在读取软件包列表... 完成
正在分析软件包的依赖关系树
正在读取状态信息... 完成
lsb-release 已经是最新版 (11.1.0ubuntu2)。
curl 已经是最新版 (7.68.0-1ubuntu2.25)。
下列软件包是自动安装的并且现在不需要了：
gir1.2-goa-1.0 libfwupdplugin1 libncurses5 libtinfo5 libxmlb1
linux-headers-5.11.0-27-generic linux-hwe-5.11-headers-5.11.0-27
linux-image-5.11.0-27-generic linux-modules-5.11.0-27-generic
linux-modules-extra-5.11.0-27-generic
使用'sudo apt autoremove'来卸载它(它们)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 2 个软件包未被升级。
-----BEGIN PGP PUBLIC KEY BLOCK-----
...
-----END PGP PUBLIC KEY BLOCK-----
then
echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list
sudo apt-get update
sudo apt-get install -y robotpkg-pinocchio
then you should follow this tutorial to install pinocchio
Before building and installing from source, please uninstall existing installations of libfranka to avoid conflicts:
sudo apt-get remove "*libfranka*"
output
正在读取软件包列表... 完成
正在分析软件包的依赖关系树
正在读取状态信息... 完成
注意，根据Glob '*libfranka*' 选中了 'robotpkg-libfranka'
注意，根据Glob '*libfranka*' 选中了 'ros-foxy-libfranka-dbgsym'
注意，根据Glob '*libfranka*' 选中了 'robotpkg-libfranka+doc'
注意，根据Glob '*libfranka*' 选中了 'ros-foxy-libfranka'
注意，根据Glob '*libfranka*' 选中了 'ros-noetic-libfranka'
注意，根据Glob '*libfranka*' 选中了 'ros-noetic-libfranka-dbgsym'
软件包 robotpkg-libfranka+doc 未安装，所以不会被卸载
软件包 robotpkg-libfranka 未安装，所以不会被卸载
软件包 ros-noetic-libfranka 未安装，所以不会被卸载
软件包 ros-noetic-libfranka-dbgsym 未安装，所以不会被卸载
软件包 ros-foxy-libfranka 未安装，所以不会被卸载
软件包 ros-foxy-libfranka-dbgsym 未安装，所以不会被卸载
下列软件包是自动安装的并且现在不需要了：
gir1.2-goa-1.0 libfwupdplugin1 libncurses5 libtinfo5 libxmlb1
linux-headers-5.11.0-27-generic linux-hwe-5.11-headers-5.11.0-27
linux-image-5.11.0-27-generic linux-modules-5.11.0-27-generic
linux-modules-extra-5.11.0-27-generic
使用'sudo apt autoremove'来卸载它(它们)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 2 个软件包未被升级。
You can clone the repository and choose the version you need by selecting a specific tag:
cd ~/Franka
git clone --recurse-submodules https://github.com/ChangerC77/libfranka.git
cd libfranka
List available tags
git tag -l
Checkout a specific tag (e.g., fr3 = 0.15.0)
git checkout fr3
update submodules
git submodule update
Create a build directory and navigate to it
mkdir build
cd build
Configure the project and build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH=/opt/openrobots/lib/cmake -DBUILD_TESTS=OFF ..
make
output
[ 92%] Linking CXX executable motion_with_control_external_control_loop
[ 92%] Built target motion_with_control_external_control_loop
[ 93%] Building CXX object examples/CMakeFiles/print_joint_poses.dir/print_joint_poses.cpp.o
[ 94%] Linking CXX executable print_joint_poses
[ 94%] Built target print_joint_poses
[ 96%] Building CXX object examples/CMakeFiles/vacuum_object.dir/vacuum_object.cpp.o
[ 97%] Linking CXX executable vacuum_object
[ 97%] Built target vacuum_object
[ 98%] Building CXX object examples/utility_examples/CMakeFiles/logging_example.dir/logging_example.cpp.o
[100%] Linking CXX executable logging_example
[100%] Built target logging_example
Building a Debian package is optional but recommended for easier installation and management. In the build folder, execute:
cpack -G DEB
output
CPack: Create package using DEB
CPack: Install projects
CPack: - Run preinstall target for: libfranka
CPack: - Install project: libfranka []
CPack: Create package
CPack: - package: /home/tars/Franka/libfranka/build/libfranka-0.15.0-x86_64.deb generated.
This command creates a Debian package named libfranka--.deb. You can then install it with:
sudo dpkg -i libfranka*.deb
you can find this deb file in our code
Installing via a Debian package simplifies the process compared to building from source every time. Additionally the package integrates better with system tools and package managers, which can help manage updates and dependencies more effectively.
首先用网线连接机械臂底座和电脑
ATTENTION: 机械臂底座ip和控制器ip不能在同一域名下
-
机械臂底座连接模式下
机械臂底座ip: 192.168.0.1本机ip: 192.168.0.2
-
FCI模式下
控制器ip: 192.168.1.10本机ip: 192.168.1.6
在SETTING页面设置控制箱ip地址
点击apply设置
设置好后，拔掉和机械臂底座的网线连接，拿网线和控制器网口相连
检查好网线，有些细的网线不能用，实测粗的网线可以用
有线网络设置：在设置/网络/有线中添加有线ip地址
设置后可以在Dashboard中查看
在页面中Activate FCI，激活后可以在SETTINGS/System/Installed Features看到FCI
在FCI激活后，在Execution状态可以实现代码控制
cd ~/Franka/libfranka/build/examples
./communication_test 192.168.1.10
./echo_robot_state 192.168.1.10
获取机器人各joint相对于base frame的transform matrix
./print_joint_poses 192.168.1.10
在参数中找到q的参数
"q": [0.0274532,-0.296549,0.20926,-2.37963,0.0801048,1.79244,0.791906],
./joint_point_to_point_motion 192.168.1.10 0.0274532 -0.296549 0.20926 -2.37963 0.0801048 1.79244 0.791906 0.1
最后一个是速度比例，一个参数不代表每个关节的速度一样
./generate_elbow_motion 192.168.1.10
肘部不动，关节动
./cartesian_impedance_control 192.168.1.10
不是无节制柔性，顶得越厉害，阻碍越大，但其实回不到初始位置，阻尼会有能量损耗
./grasp_object 192.168.1.10 1 0.01
可能会报错：
libfranka: unable to set realtime scheduling: Operation not permitted
这时控制要进入root模式
sudo passwd root
output
新的 密码：
重新输入新的 密码：
passwd：已成功更新密码
then, step in su
su