How to get this to work on FR1 (Franka Emika Panda)

[David0tt]

Hi,

is there any way to use this with the Franka FR1 (Franka Emika Panda)? The main problem is that this robot only supports up to libfranka 0.9.2, while franka_ros2 (which is required here for the crisp_controllers_demo) needs libfranka >=0.15.0 (in the current version), or at least libfranka >= 0.11.0 (for the oldest franka_ros2 version).

[danielsanjosepro]

Hey David!

Yes, franka_ros2 does not support their old FER which is a pity... You could try: https://github.com/tenfoldpaper/multipanda_ros2. They have a docker file to try this out a docker container as well. I forked it and experimented a bit with it but I have no FER in our lab (my fork https://github.com/danielsanjosepro/multipanda_ros2) so I was only able to test it in sim.

You could check https://utiasdsl.github.io/crisp_controllers/misc/new_robot_setup/ and give it a try.
I could try to get access to one FER and give it a try as well, but maybe you are faster than me if you try it yourself :)

If you need more help, let me know!
Best, Daniel

[danielsanjosepro]

One small note: if the ros2 drivers of multipanda_ros2 provide a nice working cartesian impedance controller and joint impedance controller you can simply set the right topic names for the targets as well as the controller names in the crisp_py config here:

https://github.com/utiasDSL/crisp_py/blob/767aa708b26f0c4b50f3335550642156851cbea1/crisp_py/robot_config.py#L33-L53