Awesome

Gazebo Panda

A standard bare-bone ROS Gazebo simulator for the Franka Emika Panda robot built using inbuilt Gazebo ROS controllers and RobotHW interfaces. Robot controllable using standard ROS control interfaces. No dependencies on franka_ros or libfranka.

NOTE: This package by default does not depend on franka_ros or libfranka, however using it with this plugin (thanks to @smihael!) allows using similar interfaces as the real robot. This allows using the Gazebo simulator for running the controller examples in franka_ros, and writing other controller codes using the same interfaces as the real robot.

NOTE: For a more complex simulator allowing transfer of code from sim-to-real, see PandaSimulator.

Dependencies

• franka_panda_description

Interface Details

• Hardware interface: hardware_interface/EffortJointInterface
• Transmission interface: transmission_interface/SimpleTransmission
• Controllers:
  • gazebo_panda/effort_joint_position_controller: effort_controllers/JointGroupPositionController
  • gazebo_panda/effort_joint_torque_controller: effort_controllers/JointGroupEffortController
  • gazebo_panda/panda_gripper_controller: effort_controllers/JointGroupPositionController