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run_robot.md

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Moving the Physical the Bot

This moves the bot to a specific point specified in move_to_position.py.

This uses franka_ros_interface as a controller. For compatibility with franka_ros, we are using the kinetic-devel branch of panda_moveit_config.

Setup

Please make sure you follow the directions of setup.md, all the way through step 4.

Change the "FRANKA_ROBOT_IP" and "your_ip" values in franka.sh (specified in that file). Your robot IP can be found on the Franka Desktop (ours is 192.168.1.2). You can find your internal ip using ifconfig (ours should be 192.168.1.___).

Running

# Start the driver
./franka.sh master
roslaunch panda_benchmark interface.launch 


# In another terminal do the following:
source devel/setup.sh
./franka.sh master
rosrun panda_benchmark move_to_position.py # WARNING: THIS WILL MOVE THE BOT!

Resources

https://github.com/justagist/franka_ros_interface?tab=readme-ov-file frankaemika/franka_ros#23