frankarobotics/franka_ros2

What it solves

This project provides a ROS 2 integration for libfranka, enabling researchers and developers to control Franka Robotics research robots (such as the FR3) using the ROS 2 framework. It simplifies the process of interfacing with the robot's hardware and provides a standardized way to implement robotic control loops and applications.

How it works

The repository integrates libfranka into the ROS 2 (specifically Jazzy) ecosystem. It provides a set of packages that allow for robot bring-up, controller execution, and simulation. Users can deploy the project via local installation or Docker containers to manage complex dependencies. It supports various configurations, including single-arm setups, dual-arm (FR3 Duo) setups, and mobile bases (TMRv0.2).

Who it’s for

Robotics researchers and developers who are use Franka Robotics arms and want to leverage the ROS 2 ecosystem for control, simulation, and development.

Highlights

• Multi-Robot Support: Supports single arms, dual-arm configurations (FR3 Duo), and mobile robot platforms (TMRv0.2).
• Flexible Deployment: Offers both local machine installation and Docker/Dev Container support for consistent environments.
• Simulation Integration: Includes Gazebo examples for testing code in simulation before deploying to hardware.
• Hardware Abstraction: Provides a robust interface for controlling research versions of Franka robots via libfranka.