Franka documentation and operating the Pandas » History » Revision 3
Revision 2 (Kévin Desormeaux, 2021-06-09 11:12) → Revision 3/10 (Kévin Desormeaux, 2021-06-09 11:13)
h1. Franka documentation and operating the Pandas h2. Franka Documentation * The Panda User Handbook attachment:pandaUserHandbook.pdf (safety rules, setting/starting up, basic use through the web interface) * The Franka Control Interface & ROS packages: https://frankaemika.github.io/ * The dedicated LAAS robots "wiki page":https://wiki.laas.fr/robots/Panda (basic h2. Misc things * The PC must have a Linux kernel with the PREEMT_RT option * To have access to this option, you must belong to the unix group "realtime" h2. Using your own laptop First you will need a real-time kernel to be able to communicate with the pandas (PREEMPT_RT). The procedure is described here: https://frankaemika.github.io/docs/installation_linux.html More informations in french can be found here: https://bidouilledebian.wordpress.com/2018/05/31/compiler-son-noyau/ The second link might actually be better. Note: avoid the use of the fakeroot command if you have errors. You will also need to configure the network (ethernet). - In the ipv4 tab, choose manual configuration. - Adress = 172.17.1.1 - Mask = 255.255.255.0 That's all. You can ping the robot's IP to see if you are able to communicate with it. - Panda1 = 172.17.1.2 - Panda1 = 172.17.1.3 h2. Start the pandas: https://frankaemika.github.io/docs/getting_started.html 1. before turning on check on the black button and red button. - red button must be unpressed. - black button must be pressed. - turn on the robot cpu. It's on the back. Panda 1 is the lower one. - yellow light will blink until its on. - when it's on, light remains constant. 2. Access the robot server interface: https://172.17.1.2/desk/ - accept the risks - robot information on IP and credentials are in: https://wiki.laas.fr/robots/Panda - when accessing the server, joints are locked. unlock them. take care it can move a bit. - it changes the color of the light to white - unlocked but not accept command motion. 3. To move the robot, release the black safety button. The light will turn blue - accepting command motion. 4. Clone mp2_ros (this is melodic) repository to a catkin src folder. - make it - source it 5. Run demo - this will start the admittance controller and trajectory action server at the current position roslaunch admittance_joint_trajectory_controller action.launch robot_ip:=172.17.1.2 load_gripper:=false - force 0. - you can play with stiffness to check on different behavior. be careful, it can get unstable. -- 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 -you can now play a trajectory rosbag play -d 1 straight_line.bag -this file is in the documents tab of this repository 6 - turning off - push black button - move to a safe position manually (pushing the two buttons in the end-effector and guiding) - lock the joint in Desk interface - shutdown in the interface- wait until it says you can turn off the cpu - press red button h2. Using your own laptop First you will need a real-time kernel to be able to communicate with the pandas (PREEMPT_RT). The procedure is described here: https://frankaemika.github.io/docs/installation_linux.html More informations in french can be found here: https://bidouilledebian.wordpress.com/2018/05/31/compiler-son-noyau/ The second link might actually be better. Note: avoid the use of the fakeroot command if you have errors. You will also need to configure the network (ethernet). - In the ipv4 tab, choose manual configuration. - Adress = 172.17.1.1 - Mask = 255.255.255.0 That's all. You can ping the robot's IP to see if you are able to communicate with it. - Panda1 = 172.17.1.2 - Panda1 = 172.17.1.3 h2. Troubleshooting If you have this error: <pre> linux libfranka: UDP receive: Timeout </pre> This means a firewall is blocking some UDP packets (see https://frankaemika.github.io/docs/troubleshooting.html). You can disable the firewall (should be definitive) by using this command: <pre> sudo ufw disable </pre> Check if it is disabled: <pre> sudo ufw status </pre>