Awesome
DEPRECATED: This is no longer maintained. Use the official simulation stack provided by Franka.
Gazebo ros_control interfaces for simulated Franka Emika Panda robot
This is a ROS package for that allows to use most features of franka_state_interface and franka_model_interface with the Gazebo simulator.
This package provides a Gazebo plugin, based on gazebo_ros_control (documentation), which instantiates a ros_control controller manager with the default joint interfaces (position, velocity, effort, state) and connects it to a Gazebo model. Additionally, Franka specific interfaces are registered.
Usage and dependencies
This is meant to be used along with gazebo_panda and franka_panda_description.
Note that, instead of the default gazebo_ros_control plugin (gazebo_ros_control/DefaultRobotHWSim), the custom version panda_hw_gazebo/PandaRobotHWSim provided by this package has to be loaded in xacro (example in Reconcycle project.
Credits
- Plugin structure: gazebo_ros_control by osrfoundation
- Franka Model & State Interface specification from franka_ros by Franka Emika GmbH
- kdl_methods from panda_gazebo by Saif Sidhik
FrankaEmikaPandaDynModel