Cooperation Manipulation Control » History » Revision 2
Revision 1 (Kévin Desormeaux, 2021-06-15 11:50) → Revision 2/11 (Kévin Desormeaux, 2021-06-15 12:01)
h1. Cooperation Manipulation Control h2. Franka_ros !fci-architecture.png! To operate the pandas it is necessary to have real-time kernels on the machines running the control stacks. It is the case with the *kukarm* and *truyere* workstation. You should have ROS (melodic version ideally) installed. You will need to also to install *franka_ros* franka_ros and *libfranka* . libfranka. <pre> sudo apt-get install ros-melodic-franka-ros sudo apt-get install ros-melodic-libfranka </pre> You are strongly advised to read the franka documentation to begin with. See https://redmine.laas.fr/projects/dual_arm_exp/wiki/Franka_documentation_and_operating_the_Pandas and https://frankaemika.github.io/docs/franka_ros.html. !ros-architecture.png! Basically franka_ros is a collection of package integrating libfranka into ros_control. There is packages for hardware abstraction, to control the grippers, for robots description etc. h2. CM2C https://redmine.laas.fr/projects/dual_arm_exp/wiki/Franka_documentation_and_operating_the_Pandas.