dual_arm_planning_api

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* and *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.

*Important* : libfranka must have the same versions running on the workstations (kukarm, truyere etc) and on the panda controllers (FCI). Otherwise there will be compatibility issues.

h2. CM2C

Once franka_ros is installed you can create a catkin workspace in your home directory to install CM2C. See http://wiki.ros.org/catkin/Tutorials/create_a_workspace.

CM2C is available here on the mp2_ros repository:

https://redmine.laas.fr/projects/m2p2/repository