Singularity and Oscillation Avoidance: Bachelor's Thesis Anthony Li

Entire src folder needed due to code changes in packages other than cartesian_impedance_control

Installation

Prerequisites:

• ROS2 humble
  
• Libfranka 0.13.0 or newer
  
• franka_ros2 v0.13.1
  

For further information, please refer to the Franka ROS2 FCI documentation

Once you have everything set up, follow the steps below to get the controller running.

If you do not yet have a franka_ros2_ws or it is empty:

Entire src folder needed due to code changes in packages other than cartesian_impedance_control
Clone this repository in the src directory of your franka_ros2_ws :

mkdir franka_ros2_ws/
cd franka_ros2_ws/
git clone https://github.com/GeniusT31/src.git

If there are other files in your franka_ros2_ws/src directory

Steps to be done: Add XBoxController.msg and add the new msg type to CMakeLists.txt Replace franka_robot_model.hpp with my implementation: Found under franka_ros2_ws/src/franka_semantic_components/include/franka_semantic_components/

Running the controller

Build the package or whole workspace:

colcon build --packages-select cartesian_impedance_control --cmake-args -DCMAKE_BUILD_TYPE=Release
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release #Builds all the packages in your src folder

If not yet done, ensure your setup is always source by adding the following line to the end of your .bashrc file (to get access to it, you need to execute nano .bashrc in your home directory). :

source /home/<user>/franka_ros2_ws/install/setup.sh 

Install the necessary library to read xBox controller messages:

pip install PySDL2

Launching the controller

Launch the controller:

ros2 launch cartesian_impedance_control cartesian_impedance_controller.launch.py

Open a new terminal to launch the X-Box controller publisher

python3 /home/<user>/franka_ros2_ws/src/cartesian_impedance_control/cart_vel_publisher.py

Open another new terminal to launch the gripper functionality, not needed if not using gripper

python3 /home/<user>/franka_ros2_ws/src/cartesian_impedance_control/Action_client.py