Project

General

Profile

Franka documentation and operating the Pandas » History » Revision 6

Revision 5 (Kévin Desormeaux, 2021-06-09 11:17) → Revision 6/10 (Kévin Desormeaux, 2021-06-09 11:18)

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 
 - Panda2 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/ for panda_1 and https://172.17.1.3/desk/ for panda_2 
 - accept the risks 
 - robot information on IP and credentials are in: https://wiki.laas.fr/robots/Panda 
 - when accessing the server, joints are locked (the panda has yellow lights). 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. 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>