Franka documentation and operating the Pandas » History » Version 6
Kévin Desormeaux, 2021-06-09 11:18
1 | 1 | Kévin Desormeaux | h1. Franka documentation and operating the Pandas |
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4 | h2. Franka Documentation |
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6 | * The Panda User Handbook attachment:pandaUserHandbook.pdf (safety rules, setting/starting up, basic use through the web interface) |
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7 | * The Franka Control Interface & ROS packages: https://frankaemika.github.io/ |
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8 | * The dedicated LAAS robots "wiki page":https://wiki.laas.fr/robots/Panda (basic |
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10 | 2 | Kévin Desormeaux | h2. Misc things |
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12 | * The PC must have a Linux kernel with the PREEMT_RT option |
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13 | * To have access to this option, you must belong to the unix group "realtime" |
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15 | 3 | Kévin Desormeaux | h2. Using your own laptop |
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17 | First you will need a real-time kernel to be able to communicate with the pandas (PREEMPT_RT). |
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19 | The procedure is described here: https://frankaemika.github.io/docs/installation_linux.html |
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20 | More informations in french can be found here: https://bidouilledebian.wordpress.com/2018/05/31/compiler-son-noyau/ |
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21 | The second link might actually be better. |
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23 | Note: avoid the use of the fakeroot command if you have errors. |
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25 | You will also need to configure the network (ethernet). |
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27 | - In the ipv4 tab, choose manual configuration. |
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28 | - Adress = 172.17.1.1 |
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29 | - Mask = 255.255.255.0 |
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31 | You can ping the robot's IP to see if you are able to communicate with it. |
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32 | - Panda1 = 172.17.1.2 |
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33 | 6 | Kévin Desormeaux | - Panda2 = 172.17.1.3 |
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35 | 2 | Kévin Desormeaux | h2. Start the pandas: |
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37 | https://frankaemika.github.io/docs/getting_started.html |
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39 | 1. before turning on check on the black button and red button. |
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40 | - red button must be unpressed. |
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41 | - black button must be pressed. |
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42 | - turn on the robot cpu. It's on the back. Panda 1 is the lower one. |
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43 | - yellow light will blink until its on. |
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44 | - when it's on, light remains constant. |
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46 | 5 | Kévin Desormeaux | 2. Access the robot server interface: https://172.17.1.2/desk/ for panda_1 and https://172.17.1.3/desk/ for panda_2 |
47 | 1 | Kévin Desormeaux | - accept the risks |
48 | - robot information on IP and credentials are in: https://wiki.laas.fr/robots/Panda |
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49 | 5 | Kévin Desormeaux | - when accessing the server, joints are locked (the panda has yellow lights). unlock them. take care it can move a bit. |
50 | 1 | Kévin Desormeaux | - it changes the color of the light to white - unlocked but not accept command motion. |
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52 | 3. To move the robot, release the black safety button. The light will turn blue - accepting command motion. |
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54 | 5 | Kévin Desormeaux | 4. turning off |
55 | 1 | Kévin Desormeaux | - push black button |
56 | - move to a safe position manually (pushing the two buttons in the end-effector and guiding) |
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57 | - lock the joint in Desk interface |
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58 | - shutdown in the interface- wait until it says you can turn off the cpu |
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59 | - press red button |
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61 | 2 | Kévin Desormeaux | h2. Troubleshooting |
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63 | If you have this error: |
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65 | <pre> |
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66 | linux libfranka: UDP receive: Timeout |
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67 | </pre> |
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69 | This means a firewall is blocking some UDP packets (see https://frankaemika.github.io/docs/troubleshooting.html). |
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70 | You can disable the firewall (should be definitive) by using this command: |
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72 | <pre> |
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73 | sudo ufw disable |
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74 | </pre> |
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76 | Check if it is disabled: |
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78 | <pre> |
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79 | sudo ufw status |
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80 | </pre> |