System Requirements
Host PC Requirements
MATLAB Version - Host PC OS Compatibility
The Host PC is the machine responsible for running MATLAB and Simulink.
Franka Toolbox Version |
MATLAB Version |
Host PC OS - Windows / Ubuntu Version |
|---|---|---|
2.0.0 |
R2022a or newer |
MATLAB Toolbox Dependencies
The following Mathworks products are required:
Some of demos provided with the franka_matlab need the following toolboxes:
Stateflow (required for the Simulink Example grasp_object.slx)
Matlab Robotics Toolbox (required for the MATLAB example pick_and_place_with_RRT.mlx)
MATLAB Coder Support Package for NVIDIA Jetson
For working with the Franka AI Companion & NVIDIA Jetson platforms please download and install the MATLAB Coder Support Package for NVIDIA Jetson and NVIDIA DRIVE Platforms.
Target PC - AI Companion
The Franka Toolbox for MATLAB ships with prebuilt libfranka and other binaries which are built based on the following AI Companion Target PC Ubuntu version:
Franka Toolbox Version |
Target PC Ubuntu Version (recommended) |
|---|---|
2.0.0 |
20.04 LTS |
precompiled libfranka system dependencies
Franka Robot |
libfranka Version |
System Dependency |
|---|---|---|
FR3 |
0.14.0 |
libpoco-dev (1.9.2-3ubuntu3 - Ubuntu-20.04 default), pinocchio (2.7.1) |
FER |
0.9.2 |
libpoco-dev (1.9.2-3ubuntu3 - Ubuntu-20.04 default) |
To install the required version of libpoco-dev on your system, you can use the following commands for Ubuntu-20.04:
sudo apt-get update
sudo apt-get install libpoco-dev
For installing the required version of pinocchio, please refer to the Pinocchio installation documentation.
Warning
In case the system dependencies cannot be met for libfranka, you can build and install libfranka from source, system-wide or locally in the scope of the Franka Toolbox only. For handling options, see libfranka handling options for Target PC.
Target PC - RT Linux Host
System requirements when the Host & Target PC are the same machine.
System Requirements
Make sure that your target PC configuration complies with the following documentation.
The Franka Toolbox for MATLAB ships with prebuilt libfranka and other binaries which are built based on the following Target PC Ubuntu version:
Franka Toolbox Version |
Target AI Companion PC Ubuntu Version (recommended) |
|---|---|
2.0.0 |
22.04 LTS |
MATLAB Support Package for Linux
In case where there is a single Ubuntu Host & Target machine, please ensure that you have installed the matlab-support package in order for Matlab to reference the system dynamic libraries instead of the precompiled ones that it ships with:
sudo apt install matlab-support
precompiled libfranka system dependencies
Franka Toolbox comes with prebuilt libfranka which requires the following system dynamic libraries:
Franka Robot |
libfranka Version |
System Dependency |
|---|---|---|
FR3 |
0.14.0 |
libpoco-dev (1.11.0-3 - Ubuntu-22.04 default), pinocchio (3.2.0) |
FER |
0.9.2 |
libpoco-dev (1.11.0-3 - Ubuntu-22.04 default) |
To install the required version of libpoco-dev on your system, you can use the following commands for Ubuntu-22.04:
sudo apt-get update
sudo apt-get install libpoco-dev
For installing the required version of pinocchio, please refer to the Pinocchio installation documentation.
Warning
In case the system dependencies cannot be met for libfranka, you can build and install libfranka from source, system-wide or locally in the scope of the Franka Toolbox only. For handling options, see libfranka handling options for Target PC.