Franka-Sigma.7-Teleoperation

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Franka-Sigma.7-Teleoperation

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Franka Emikia Research 3 robotic arm teleoperation by Force Dimension Sigma.7

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# Franka-Sigma.7-Teleoperation

ME5001 Project of NUS Mechanical Engineering MSc

Franka Emikia Research 3 robotic arm teleoperation by Force Dimension Sigma.7, integrated with gripper control and haptic feedback.

![Ubuntu 20.04](https://img.shields.io/badge/OS-Ubuntu_20.04-informational?style=flat&logo=ubuntu&logoColor=white&color=2bbc8a)
![ROS Noetic](https://img.shields.io/badge/Tools-ROS_Noetic-informational?style=flat&logo=ROS&logoColor=white&color=2bbc8a)
![C++](https://img.shields.io/badge/Code-C++-informational?style=flat&logo=c%2B%2B&logoColor=white&color=2bbc8a)

![cover_image](https://raw.githubusercontent.com/Zachary193/Franka-Sigma.7-Teleoperation/main/src/media/system.png)

## Dependencies

* System requirements:
  * Ubuntu 20.04
  * ROS Noetic
  * C++11 and above
  * CMake: 3.0.2 and above
* This repo depends on the following standard ROS pkgs:
  * `roscpp`
  * `rviz`
  * `actionlib`
  * `std_msgs`
  * `sensor_msgs`
  * `geometry_msgs`
  * `actionlib_msgs`
  * `tf2`
  * `tf2_ros`
  * `tf2_geometry_msgs`
  * `moveit_ros_planning_interface`
  * `franka_gripper`

## Prerequisites

* ROS Noetic [ROS Installation](https://wiki.ros.org/noetic/Installation/Ubuntu)
  * MoveIt 1 Noetic [MoveIt Installation](https://moveit.github.io/moveit_tutorials/doc/getting_started/getting_started.html#install-ros-and-catkin/)
  * Franka Control Interface [FCI Installation](https://frankaemika.github.io/docs/installation_linux.html)

## Installation

This repo is a ros workspace, containing two rospkgs:

* `sigma7` contains the source code to run the Sigma.7 haptic device
* `franka` contains the source code and the launch file to control the Franka Emikia robotic arm

## Usage

### 1. Build Workspace

```bash
catkin_make
```

### 2. Turn on Sigma.7

```bash
# Super User
sudo su

# Source 
source devel/setup.bash

rosrun sigma7 sigma7
```

### 3. Connect to Franka robotic arm

After **Step 2**, in the second terminal:

```bash
# Source 
source devel/setup.bash

roslaunch franka_execute franka_execute.launch
```

You should see the FR3 model on RViz.

### 4. Start Teleoperation

Now you can move Sigma.7 device to control the Franka robotic arm.
* Experiment equipment:
![experiment_image](https://raw.githubusercontent.com/Zachary193/Franka-Sigma.7-Teleoperation/main/src/media/experiment.jpg)
* Grasp object:
![grasp_image](https://raw.githubusercontent.com/Zachary193/Franka-Sigma.7-Teleoperation/main/src/media/grasp_object.gif)
* Force feedback:
![feedback_image](https://raw.githubusercontent.com/Zachary193/Franka-Sigma.7-Teleoperation/main/src/media/force_feedback.gif)

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