Franka Control Interface Documentation

The Franka Control Interface (FCI) consists of several open source components which we provide on GitHub. We welcome contributions and suggestions for improvements.

These components are:

• libfranka, a C++ library that provides low-level control of Franka Emika research robots. Its source code is available at https://github.com/frankaemika/libfranka. API documentation is available at https://frankaemika.github.io/libfranka.
• franka_ros, our ROS integration, including support for ROS Control and MoveIt!. It also contains franka_description, a collection of URDF models and 3D meshes that can be useful outside of ROS. The repository is available at https://github.com/frankaemika/franka_ros.

The source code of this documentation is also available online.

Important

Before you start using the FCI, please read through the documents shipped with the robot and the Minimum system and network requirements chapter.

Contents:

• Overview
• Minimum system and network requirements
  • Workstation PC
  • Network
• Installation instructions
  • Installing from the ROS repositories
  • Building from source
  • Setting up the real-time kernel
• Getting started
  • Operating the robot
  • Setting up the network
  • Verifying the connection
• libfranka
  • Connecting libfranka to the robot
  • Reading the robot state
  • Moving the robot
• franka_ros
  • franka_description
  • franka_gripper
  • franka_hw
  • franka_control
  • franka_visualization
  • franka_example_controllers
  • panda_moveit_config
  • Writing your own controller
• Control parameters specifications
  • Joint trajectory requirements
  • Cartesian trajectory requirements
  • Controller requirements
  • Constants
  • Denavit–Hartenberg parameters
• Troubleshooting
  • Motion stopped due to discontinuities or communication_constraints_violation
  • Robot is not reachable
  • Network bandwidth, delay and jitter test