dual_arm_planning_api

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

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. 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>