franka_ros2
ROS 2 integration for Franka research robots
파일 탐색기
최종 버전 다운로드 (.zip)- devcontainer.json
- ci.yml
- release.yml
- frames.svg
- move_groups.png
- index.rst
- controllers.yaml
- franka.config.yaml
- tmr.config.yaml
- xbox.config.yaml
- index.rst
- __init__.py
- controller_service_client.py
- controller_test_utils.py
- fake_hardware_test_base.py
- __init__.py
- launch_utils.py
- example.launch.py
- franka.launch.py
- joint_impedance_with_ik_example_controller.launch.py
- mobile_teleop.launch.py
- tmrv0_2.launch.py
- test_0.config.yaml
- test_1.config.yaml
- test_fake_hardware_fr3.config.yaml
- test_use_fake_hardware.config.yaml
- README.md
- ros2_control_test_helpers.py
- test_fake_hardware_controllers.py
- test_franka_arm_interfaces.py
- test_gazebo_wrapper_expansion.py
- test_hardware_example_controllers.py
- test_hardware_generic_controller.py
- test_launch_file_parsing.py
- test_teleop_plumbing.py
- test_xacro_path_resolution.py
- franka_arm.urdf.xacro
- tmrv0_2.urdf.xacro
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- README.md
- __init__.py
- _rest_client.py
- CMakeLists.txt
- package.xml
- README.md
- index.rst
- ptp_motion_example_node.hpp
- cartesian_elbow_example_controller.hpp
- cartesian_orientation_example_controller.hpp
- cartesian_pose_example_controller.hpp
- cartesian_velocity_example_controller.hpp
- elbow_example_controller.hpp
- gravity_compensation_example_controller.hpp
- gripper_example_controller.hpp
- joint_impedance_example_controller.hpp
- joint_impedance_with_ik_example_controller.hpp
- joint_position_example_controller.hpp
- joint_velocity_example_controller.hpp
- model_example_controller.hpp
- move_to_start_example_controller.hpp
- default_robot_behavior_utils.hpp
- motion_generator.hpp
- robot_utils.hpp
- visibility_control.h
- ptp_motion_example_node.cpp
- cartesian_elbow_example_controller.cpp
- cartesian_orientation_example_controller.cpp
- cartesian_pose_example_controller.cpp
- cartesian_velocity_example_controller.cpp
- elbow_example_controller.cpp
- gravity_compensation_example_controller.cpp
- gripper_example_controller.cpp
- joint_impedance_example_controller.cpp
- joint_impedance_with_ik_example_controller.cpp
- joint_position_example_controller.cpp
- joint_velocity_example_controller.cpp
- model_example_controller.cpp
- move_to_start_example_controller.cpp
- motion_generator.cpp
- test_gravity_compensation_example.cpp
- test_load_all_example_controllers.cpp
- test_move_to_start_example_controller.cpp
- test_move_to_start_example_controller.hpp
- CHANGELOG.rst
- CMakeLists.txt
- franka_example_controllers.xml
- package.xml
- fr3_controllers.yaml
- fr3_ros_controllers.yaml
- kinematics.yaml
- ompl_planning.yaml
- index.rst
- move_group.launch.py
- moveit.launch.py
- moveit.rviz
- test_gripper_topic_consistency.py
- test_moveit_planning_smoke.py
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- franka_gazebo_controllers.yaml
- index.rst
- gazebo_franka_arm_example_controller.launch.py
- gazebo_mobile_robot.launch.py
- gazebo_tmr_example_controller.launch.py
- visualize_franka_robot.launch.py
- test_gazebo_contact_wrench.py
- test_gazebo_launch.py
- franka_arm.gazebo.xacro
- sensors.xacro
- tmrv0_2.gazebo.urdf.xacro
- tmrv0_2_with_sensors.gazebo.urdf.xacro
- mobile_fr3_duo_sensors.sdf
- sensor_demo_world.sdf
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- franka_gazebo_hardware_interface.hpp
- gravity_compensation_model.hpp
- franka_gazebo_hardware_interface.cpp
- gravity_compensation_model.cpp
- gravity_compensation_model_test.cpp
- CHANGELOG.rst
- CMakeLists.txt
- franka_gz_hardware_plugins.xml
- package.xml
- franka_gripper_node.yaml
- index.rst
- __init__.py
- gripper_action_server.hpp
- gripper.launch.py
- fake_gripper_state_publisher.py
- gripper_action_server.cpp
- test_hardware_franka_gripper_position.py
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- index.rst
- ptp_motion_handler.hpp
- franka_action_server.hpp
- franka_executor.hpp
- franka_hardware_interface.hpp
- franka_param_service_server.hpp
- model.hpp
- robot.hpp
- ros_libfranka_logger.hpp
- franka_arm.ros2_control.xacro
- franka_ros2_control_macros.xacro
- tmrv0_2.ros2_control.xacro
- ptp_motion_handler.cpp
- franka_action_server.cpp
- franka_executor.cpp
- franka_hardware_interface.cpp
- franka_param_service_server.cpp
- robot.cpp
- ros_libfranka_logger.cpp
- franka_active_control_mock.hpp
- franka_hardware_robot_mock.hpp
- franka_model_mock.hpp
- franka_robot_mock.hpp
- CMakeLists.txt
- fr3.urdf
- fr3_unsupported_version.urdf
- franka_action_server_test.cpp
- franka_hardware_cartesian_command_interface_test.cpp
- franka_hardware_cartesian_command_interface_test.hpp
- franka_hardware_interface_test.cpp
- franka_robot_test.cpp
- franka_robot_test.hpp
- ptp_motion_test.cpp
- test_utils.hpp
- CHANGELOG.rst
- CMakeLists.txt
- franka_hardware.xml
- package.xml
- franka_battery_node.yaml
- swerve_drive_controller_parameters.yaml
- index.rst
- __init__.py
- battery_api_client.py
- battery_controller.py
- battery_server.py
- odometry.hpp
- swerve_drive_controller.hpp
- swerve_ik_controller.hpp
- swerve_kinematics.hpp
- battery.launch.py
- battery_server_node.py
- odometry.cpp
- swerve_drive_controller.cpp
- swerve_ik_controller.cpp
- swerve_kinematics.cpp
- urdf_utils.cpp
- urdf_utils.hpp
- test_odometry.cpp
- test_swerve_kinematics.cpp
- CMakeLists.txt
- controllers.xml
- package.xml
- franka_mobile_d455.yaml
- sick_nanoscan2.yaml
- default_sensor_suite.yaml
- index.rst
- __init__.py
- camera_configs.py
- realsense_cameras.launch.py
- __init__.py
- lidar_configs.py
- safety_scanners.launch.py
- __init__.py
- config_loader.py
- rviz.launch.py
- __init__.py
- franka_mobile_sensors.launch.py
- nanoscan3_macro.xacro
- nanoscan3.xacro
- sensor_suite.xacro
- tmrv0_2_with_sensors.urdf.xacro
- tmrv0_2_with_sensors.xacro
- tmr_sensors.rviz
- CMakeLists.txt
- package.xml
- README.md
- ErrorRecovery.action
- Grasp.action
- Homing.action
- Move.action
- PTPMotion.action
- index.rst
- CollisionIndicators.msg
- Elbow.msg
- Errors.msg
- FrankaRobotState.msg
- GraspEpsilon.msg
- TargetStatus.msg
- SetCartesianStiffness.srv
- SetForceTorqueCollisionBehavior.srv
- SetFullCollisionBehavior.srv
- SetJointStiffness.srv
- SetLoad.srv
- SetStiffnessFrame.srv
- SetTCPFrame.srv
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- index.rst
- async_buffer.hpp
- franka_robot_state_broadcaster.hpp
- franka_robot_state_broadcaster.cpp
- franka_robot_state_broadcaster_parameters.yaml
- franka_robot_state_broadcaster_parameters.yaml
- test_franka_robot_state_broadcaster.cpp
- test_load_franka_robot_state_broadcaster.cpp
- CHANGELOG.rst
- CMakeLists.txt
- franka_robot_state_broadcaster.xml
- package.xml
- compatibility_matrix.rst
- run_hardware_tests.sh
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- index.rst
- franka_cartesian_pose_interface.hpp
- franka_cartesian_velocity_interface.hpp
- franka_robot_model.hpp
- franka_robot_state.hpp
- franka_semantic_component_interface.hpp
- franka_cartesian_pose_interface.cpp
- franka_cartesian_velocity_interface.cpp
- franka_robot_model.cpp
- franka_robot_state.cpp
- franka_semantic_component_interface.cpp
- translation_utils.cpp
- translation_utils.hpp
- franka_cartesian_pose_interface_test.cpp
- franka_cartesian_pose_interface_test.hpp
- franka_cartesian_velocity_interface_test.cpp
- franka_cartesian_velocity_interface_test.hpp
- franka_robot_model_test.cpp
- franka_robot_model_test.hpp
- franka_robot_state_test.cpp
- franka_robot_state_test.hpp
- franka_semantic_interface_test.cpp
- franka_semantic_interface_test.hpp
- robot_description_test.txt
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- spine_client_example.hpp
- spine_client_example.py
- spine_client_example.cpp
- CMakeLists.txt
- package.xml
- MoveAbsolute.action
- SpineParameters.msg
- UserLimits.msg
- FaultReset.srv
- GetParameters.srv
- GetPosition.srv
- GetSpineState.srv
- Halt.srv
- SwitchOff.srv
- SwitchOn.srv
- CMakeLists.txt
- package.xml
- franka_spine_node.yaml
- __init__.py
- spine_action_server.py
- spine_api_client.py
- spine_controller.py
- spine.launch.py
- spine_action_server_node.py
- CMakeLists.txt
- package.xml
- index.rst
- .clang-format
- .clang-tidy
- .gitattributes
- .gitignore
- CHANGELOG.rst
- CONTRIBUTING.md
- dependency.repos
- docker-compose.yml
- Dockerfile
- franka_entrypoint.sh
- Jenkinsfile
- LICENSE
- limits.conf
- NOTICE
- pyproject.toml
- README.md
# 설치 가이드
1. 코드 내려받기
git clone https://github.com/frankarobotics/franka_ros2
깃허브에서 프로젝트 코드 전체를 내 컴퓨터로 내려받습니다.
cd franka_ros2
방금 내려받은 프로젝트 폴더 안으로 이동합니다.
2. 공식 설치 스크립트
쉬움 추천사전 준비물
- APT (Debian/Ubuntu 계열) Debian/Ubuntu 계열 리눅스에 기본 내장된 패키지 매니저입니다.
sudo apt install <YOUR CHOICE>
APT 패키지 저장소에서 바로 설치합니다 (Debian/Ubuntu 계열).
sudo apt install ros-dev-tools
APT 패키지 저장소에서 바로 설치합니다 (Debian/Ubuntu 계열).
설치 후 새 터미널을 열고, 프로그램의 버전 확인 명령(예: --version)으로 정상 설치됐는지 확인하세요.
이 레포의 README에 적힌 실제 명령어를 그대로 가져왔습니다.
3. Docker
쉬움사전 준비물
- Git GitHub에서 프로젝트 코드를 내려받으려면 필요합니다.
- Docker Desktop 컨테이너를 빌드하고 실행하려면 필요합니다. 설치 후 실행해서 백그라운드에 켜두세요.
docker compose build
compose 설정 파일에 정의된 서비스들을 대상으로 명령을 실행합니다.
docker compose up -d
정의된 모든 컨테이너(서버, DB 등)를 한 번에 빌드하고 백그라운드에서 실행합니다.
docker exec -it franka_ros2 /bin/bash
이 명령어를 터미널에 그대로 입력해 실행하세요.
docker compose down -t 0
compose 설정 파일에 정의된 서비스들을 대상으로 명령을 실행합니다.
We provide separate instructions for using Docker with Visual Studio Code or the command line. Choose one of the following options:
이 명령어를 터미널에 그대로 입력해 실행하세요.
터미널에 docker compose ps 를 입력해 컨테이너들이 Up 상태인지 확인하세요. README에 포트 번호가 적혀있다면 브라우저에서 http://localhost:포트번호 로 접속해보세요.
이 레포의 README에 적힌 실제 명령어를 그대로 가져왔습니다.
4. CMake
보통사전 준비물
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF
이 명령어를 터미널에 그대로 입력해 실행하세요.
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
이 명령어를 터미널에 그대로 입력해 실행하세요.
build 폴더 안에 실행 파일이 생성됐는지 확인하고, 직접 실행해보세요 (예: ./build/앱이름).
이 레포의 README에 적힌 실제 명령어를 그대로 가져왔습니다.
// repository documentation
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