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Franka documentation and operating the Pandas » History » Version 2

Kévin Desormeaux, 2021-06-09 11:12

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h1. Franka documentation and operating the Pandas
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h2. Franka Documentation
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* The Panda User Handbook attachment:pandaUserHandbook.pdf (safety rules, setting/starting up, basic use through the web interface)
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* The Franka Control Interface & ROS packages: https://frankaemika.github.io/
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* The dedicated LAAS robots "wiki page":https://wiki.laas.fr/robots/Panda (basic
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h2. Misc things
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* The PC must have a Linux kernel with the PREEMT_RT option
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* To have access to this option, you must belong to the unix group "realtime"
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h2. Start the pandas:
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https://frankaemika.github.io/docs/getting_started.html
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1. before turning on check on the black button and red button.
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- red button must be unpressed.
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- black button must be pressed.
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- turn on the robot cpu. It's on the back. Panda 1 is the lower one.
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- yellow light will blink until its on.
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- when it's on, light remains constant.
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2. Access the robot server interface: https://172.17.1.2/desk/
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- accept the risks
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- robot information on IP and credentials are in: https://wiki.laas.fr/robots/Panda
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- when accessing the server, joints are locked. unlock them. take care it can move a bit.
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- it changes the color of the light to white - unlocked but not accept command motion.
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3. To move the robot, release the black safety button. The light will turn blue - accepting command motion.
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4. Clone mp2_ros (this is melodic) repository to a catkin src folder.
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- make it
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- source it
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5. Run demo
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- this will start the admittance controller and trajectory action server at the current position
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roslaunch admittance_joint_trajectory_controller action.launch robot_ip:=172.17.1.2 load_gripper:=false
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- force 0.
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- you can play with stiffness to check on different behavior. be careful, it can get unstable.
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-- some time force, vel, pos, reach a threshold and the robot stop for safety reasons. you can lock and unlock the joints again in the Desk interface
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-you can now play a trajectory
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rosbag play -d 1 straight_line.bag
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-this file is in the documents tab of this repository 
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6 - turning off
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- push black button
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- move to a safe position manually (pushing the two buttons in the end-effector and guiding)
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- lock the joint in Desk interface
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- shutdown in the interface- wait until it says you can turn off the cpu
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- press red button
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h2. Using your own laptop
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First you will need a real-time kernel to be able to communicate with the pandas (PREEMPT_RT). 
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The procedure is described here: https://frankaemika.github.io/docs/installation_linux.html
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More informations in french can be found here: https://bidouilledebian.wordpress.com/2018/05/31/compiler-son-noyau/
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The second link might actually be better. 
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Note: avoid the use of the fakeroot command if you have errors. 
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You will also need to configure the network (ethernet). 
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- In the ipv4 tab, choose manual configuration. 
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- Adress = 172.17.1.1
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- Mask = 255.255.255.0
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That's all. 
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You can ping the robot's IP to see if you are able to communicate with it.
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- Panda1 = 172.17.1.2
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- Panda1 = 172.17.1.3
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h2. Troubleshooting
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If you have this error: 
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<pre>
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linux libfranka: UDP receive: Timeout
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</pre>
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This means a firewall is blocking some UDP packets (see https://frankaemika.github.io/docs/troubleshooting.html).
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You can disable the firewall (should be definitive) by using this command:
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<pre>
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sudo ufw disable
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</pre>
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Check if it is disabled:
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<pre>
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sudo ufw status
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</pre>